Servosila-Device-Reference-0xA020192

• The higher the frequency, the better (lower latency).
6
clock polarity 0 or 1 The parameter tells the controller to electrically invert output signals on the SCK
line. This line is sometimes called SCLK or CLOCK.
Leave the default setting unless an application-specific need arises.
UINT16,
0x3014,
0x12,
rw
7
clock phase 0 or 1 The parameter tells the controller to delay the moment when the MISO line is
sampled vs. output pulse on the SCK line.
Leave the default setting unless an application-specific need arises.
UINT16,
0x3014,
0x13,
rw
8
total number
of bits in
packet
- The parameter specifies the number of pulses the controller clocks out via the
SCK line each time the controller reads a data packet from the encoder. This line
is sometimes called SCLK or CLOCK. The number of pulses matches the
number of bits read out from the encoder. This parameter should be taken from
the encoder's datasheet.
Furthermore, due to peculiarities of a silicon peripheral, the number of clocked
out pulses is rounded up to the nearest 16. For example, if this parameter is set as
25 bits (16+9), the actual number of clocked out pulses is going to be 32 (16+16).
UINT16,
0x3014,
0x14,
rw
9
POSITION
field: start bit
- This parameter defines a format of the data packet. The parameter needs to be
taken from the encoder's datasheet.
UINT16,
0x3014,
0x20,
rw
10
POSITION
field: length
- This parameter defines a format of the data packet. The parameter needs to be
taken from the encoder's datasheet.
UINT16,
0x3014,
0x21,
rw
11
POSITION
field: is
inverted
0 or 1 This parameter defines a format of the data packet. The parameter needs to be
taken from the encoder's datasheet.
BOOL,
0x3014,
0x22,
rw
12
CRC field: is
used
0 or 1 This parameter enables or disables CRC verification for received packets. Note
that the controller supports a limited number of CRC formulae. If an encoder
implements a CRC formula that is not supported by the controller, then the CRC
verification function has to be turned off. Note that if CRC verification fails, the
controller discards the packet as a corrupted one, but DOES NOT raise a "Fault
Bits" flag.
BOOL,
0x3014,
0x23,
rw
13
CRC field:
start bit
- This parameter defines a format of the data packet. The parameter needs to be
taken from the encoder's datasheet.
UINT16,
0x3014,
0x24,
rw
14 CRC field: - This parameter defines a format of the data packet. The parameter needs to be UINT16,
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