IC-MU_13 Datasheet, PDF (42/59 Pages) IC-Haus GmbH – OFF-AXIS NONIUS ENCODER WITH INTEGRATED HALL SENSORS

iC-MU OFF-AXIS NONIUS ENCODER
WITH INTEGRATED HALL SENSORS
preliminary
INCREMENTAL OUTPUT ABZ, STEP/DIRECTION AND CW/CCW
Rev B1, Page 42/59
MODEA
Code
0x3
MODEB
Code
0x0
0x2
0x3
Notes:
Description
ABZ
Description
ABZ
Step/Direction
CW/CCW Incremental
It is not possible to select an incremental interface
on MODEA and MODEB simultaneously
CW
CCW
STEP
DIR
Table 66: MODEA/MODEB: ABZ, step/direction and
CW/CCW
The resolution of incremental signals ABZ can be pro-
grammed for each singleturn cycle within a range of 4
to 262,144 edges using the internal FlexCount®. The
number of master periods which is equivalent to a sin-
gleturn cycle is defined by the settings in register MPC
(Table 48).
RESABZ(7:0)
Addr. 0x13; bit 7:0
RESABZ(15:0) Addr. 0x14; bit 7:0
Code
Resolution
Interpolation factor
0x0000
4
1
0x0001
8
2
...
...
...
0xFFFF 262144
65536
Notes:
For non-binary resolutions above 32,768 (0x2000)
the relative error increases
Table 67: FlexCount®- Resolution
Figure 40 shows the ABZ, step/direction, and
CW/CCW signals. The length of a signal A or B cycle
is defined by ϕ_360AB as a range between two rising
edges of an A or B signal.
NCLR
A
B
Z
φ
360AB
t
mtd
φ
z90
clockwise rotation
φ
hys
counterclockwise rotation
time
Figure 40: Definition of the ABZ, STEP/DIR, and
CW/CCW signals
The phase position of the incremental output signals
can be inverted using the relevant configuration bit
INV_x (x = A,B,Z).
INV_A
Code
0
1
Addr. 0x16; bit 2
A/STEP/CW-Signal
normal
inversion
Table 68: Inversion A-Signal
ϕ_hys represents the hysteresis which must be ex-
ceeded before further edges are generated at the in-
cremental interface.
INV_B
Code
0
1
Minimum edge distance t_mtd is the minimum time which
must have elapsed before another event can be output
at the incremental interface.
The length of the Z pulse with setting ZLEN = 0x00 is
defined by ϕ_z90.
INV_Z
Code
0
1
Addr. 0x16; bit 1
B/DIR/CCW-Signal
normal
inversion
Table 69: Inversion B-Signal
Addr. 0x16; bit 0
Z/NCLR-Signal
normal
inversion
Table 70: Inversion Z-Signal