@@ -328,41 +328,32 @@ count_64 (s64 out)::
328328position (float out)::
329329 Encoder position in position units (count / scale).
330330position-interpolated (float out)::
331- Encoder interpolated position in position units (count / scale). Only
332- valid when velocity is approximately constant and the time between
333- counts is less than the velocity timeout parameter value. Do not use
334- for position control. Useful for spindle synchronized moves with low
335- resolution encoders.
331+ Encoder interpolated position in position units (count / scale).
332+ Only valid when velocity is approximately constant and the time between counts is less than the velocity timeout parameter value.
333+ Do not use for position control. Useful for spindle synchronized moves with low resolution encoders.
336334position-latched (float out)::
337335 Encoder latched position in position units (count / scale).
338336velocity (float out)::
339337 Estimated encoder velocity in position units per second.
340338velocity-rpm (float out)::
341339 Estimated encoder velocity in position units per minute.
342340reset (bit in)::
343- When this pin is True, the count and position pins are set to 0 (the
344- value of the velocity pin is not affected by this). The driver does
345- not reset this pin to FALSE after resetting the count to 0, that is
346- the user's job.
341+ When this pin is True, the count and position pins are set to 0 (the value of the velocity pin is not affected by this).
342+ The driver does not reset this pin to FALSE after resetting the count to 0, that is the user's job.
347343index-enable (bit in/out)::
348344 When this pin is set to True, (and no-clear-on-index is false)
349- the count (and therefore also position) are reset to zero on the next
350- Index (Phase-Z) pulse. At the same time, index-enable is reset to zero
351- to indicate that the pulse has occurred.
345+ the count (and therefore also position) are reset to zero on the next Index (Phase-Z) pulse.
346+ At the same time, index-enable is reset to zero to indicate that the pulse has occurred.
352347no-clear-on-index (bit in)::
353- When this pin is set to True, the count (and therefore also position)
354- are NOT reset to zero on the next Index (Phase\-Z) pulse.
355- On an index event the latched count and position will be set to
356- indicate the count and position where the index occurred.
348+ When this pin is set to True, the count (and therefore also position) are NOT reset to zero on the next Index (Phase\-Z) pulse.
349+ On an index event the latched count and position will be set to indicate the count and position where the index occured.
357350probe-enable (bit in/out)::
358- When this pin is set to True, the encoder count (and therefore also
359- position) are latched on the the next probe active edge. At the same
360- time, probe-enable is reset to zero to indicate that latch event has
361- occurred (only present if supported by firmware).
351+ When this pin is set to True, the encoder count (and therefore also position) are latched on the the next probe active edge.
352+ At the same time, probe-enable is reset to zero to indicate that latch event has occurred.
353+ (only present if supported by firmware)
362354probe-invert (bit r/w)::
363- If set to True, the rising edge of the probe input pin triggers the
364- latch event (if probe-enable is True). If set to False, the falling
365- edge triggers (only present if supported by firmware).
355+ If set to True, the rising edge of the probe input pin triggers the latch event (if probe-enable is True).
356+ If set to False, the falling edge triggers. (only present if supported by firmware)
366357rawcounts (s32 out)::
367358 Total number of encoder counts since the start, not adjusted for index or reset.
368359rawcounts_64 (s64 out)::
@@ -374,8 +365,8 @@ count_latch_64 (s64 out)::
374365input-a, input-b, input-index (bit out)::
375366 Real time filtered values of A,B,Index encoder signals
376367quad-error-enable (bit in)::
377- When this pin is True quadrature error reporting is enabled. When
378- False, existing quadrature errors are cleared and error reporting is disabled.
368+ When this pin is True quadrature error reporting is enabled.
369+ When False, existing quadrature errors are cleared and error reporting is disabled.
379370quad-error (bit out)::
380371 This bit indicates that a quadrature sequence error has been detected.
381372 It can only be set if the corresponding quad-error-enable bit is True.
@@ -388,12 +379,11 @@ hm2_XXXX.N.encoder.muxed-sample-frequency (u32 in)::
388379 This also sets the encoder multiplexing frequency.
389380hm2_XXXX.N.encoder.muxed-skew (float in)::
390381 This sets the muxed encoder sample time delay (in ns) from the multiplex signal.
391- Setting this properly can increase the usable
392- multiplex frequency and compensate for cable delays (suggested value
393- is 3* cable length in feet +20).
382+ Setting this properly can increase the usable multiplex frequency and compensate for cable delays
383+ (suggested value is 3* cable length in feet +20).
394384hm2_XXXX.N.encoder.hires-timestamp (bit in)::
395- When this pin is True the encoder timestamp counter frequency is
396- ca. 10 MHz when False the timestamp counter frequency is ca. 2 MHz.
385+ When this pin is True the encoder timestamp counter frequency is ca. 10 MHz.
386+ When False the timestamp counter frequency is ca. 2 MHz.
397387 This should be set True for frequency counting applications to improve the resolution.
398388 It should be set False when servo thread periods longer than 1 ms are used.
399389
@@ -512,23 +502,19 @@ e: (Encoder):: (s32, out) hm2_XXXX.N.ssi.MM.<name>.count. +
512502 (bit, in) (bit, out) hm2_XXXX.N.ssi.MM.<name>.reset. +
513503 When this pin is set high the counts and position pins are zeroed.
514504h: (Split encoder, high-order bits)::
515- Some encoders (Including Fanuc) place the encoder part-turn counts and
516- full-turn counts in separate, non-contiguous fields. This tag defines
517- the high-order bits of such an encoder module. There can be only one h
518- and one l tag per channel, the behaviour with multiple such channels
519- will be undefined.
505+ Some encoders (Including Fanuc) place the encoder part-turn counts and full-turn counts in separate, non-contiguous fields.
506+ This tag defines the high-order bits of such an encoder module.
507+ There can be only one h and one l tag per channel, the behaviour with multiple such channels will be undefined.
520508l: (Split encoder, low-order bits)::
521509 Low order bits (see "h")
522510g: (Gray-code):: This is a modifier that indicates that the following format string is gray-code encoded.
523511 This is only valid for encoders (e, h l) and unsigned (u) data types.
524512m: (Multi-turn)::
525- This is a modifier that indicates that the following
526- format string is a multi-turn encoder. This is only valid for encoders
527- (e, h l). A jump in encoder position of more than half the full scale
528- is interpreted as a full turn and the counts are wrapped. With a
529- multi-turn encoder this is only likely to be a data glitch and will
530- lead to a permanent offset. This flag endures that such encoders will
531- never wrap.
513+ This is a modifier that indicates that the following format string is a multi-turn encoder.
514+ This is only valid for encoders (e, h l).
515+ A jump in encoder position of more than half the full scale is interpreted as a full turn and the counts are wrapped.
516+ With a multi-turn encoder this is only likely to be a data glitch and will lead to a permanent offset.
517+ This flag endures that such encoders will never wrap.
532518
533519*Parameters*
534520
@@ -630,9 +616,8 @@ velocity-rpm (float, out)::
630616count (s32, out)::
631617 This pins outputs a simulated encoder count at 2^24^ counts per rev (16777216 counts).
632618rawcounts (s32, out)::
633- This is identical to the counts pin, except it is not reset by the
634- "index" or "reset" pins. This is the pin which would be linked to the
635- bldc HAL component if the resolver was being used to commutate a motor.
619+ This is identical to the counts pin, except it is not reset by the "index" or "reset" pins.
620+ This is the pin which would be linked to the bldc HAL component if the resolver was being used to commutate a motor.
636621reset (bit, in)::
637622 Resets the position and counts pins to zero immediately.
638623joint-pos-fb (bit, in)::
@@ -648,13 +633,11 @@ joint-pos-fb (bit, in)::
648633 This feature will only work properly if the machine is initially homed to "index"
649634 and if the axis home positions are exactly zero.
650635index-enable (bit, in/out)::
651- When this pin is set high the position and counts pins will be reset
652- the next time the resolver passes through the zero position. At the
653- same time the pin is driven low to indicate to connected modules that
654- the index has been seen, and that the counters have been reset.
636+ When this pin is set high the position and counts pins will be reset the next time the resolver passes through the zero position.
637+ At the same time the pin is driven low to indicate to connected modules that the index has been seen, and that the counters have been reset.
655638error (bit, out)::
656- Indicates an error in the particular channel. If this value is "True"
657- then the reported position and velocity are invalid.
639+ Indicates an error in the particular channel.
640+ If this value is "True" then the reported position and velocity are invalid.
658641
659642*Parameters:*
660643
@@ -673,14 +656,12 @@ index-divisor (default 1) (u32, read/write)::
673656 It is not appropriate to use this parameter for index-homing of axis drives.
674657
675658excitation-khz (float, read/write)::
676- This pin sets the excitation frequency for the resolver. This pin is
677- module-level rather than instance-level as all resolvers share the
678- same excitation frequency. Valid values are 10 (ca. 10 kHz), 5 (ca. 5 kHz)
679- and 2.5 (ca. 2.5 kHz). The actual frequency depends on the FPGA
680- frequency, and they correspond to CLOCK_LOW/5000, CLOCK_LOW/10000 and
681- CLOCK_LOW/20000 respectively. The parameter will be set to the closest
682- available of the three frequencies. A value of -1 (the default)
683- indicates that the current setting should be retained.
659+ This pin sets the excitation frequency for the resolver.
660+ This pin is module-level rather than instance-level as all resolvers share the same excitation frequency.
661+ Valid values are 10 (ca. 10 kHz), 5 (ca. 5 kHz) and 2.5 (ca. 2.5 kHz).
662+ The actual frequency depends on the FPGA frequency, and they correspond to CLOCK_LOW/5000, CLOCK_LOW/10000 and CLOCK_LOW/20000 respectively.
663+ The parameter will be set to the closest available of the three frequencies.
664+ A value of -1 (the default) indicates that the current setting should be retained.
684665
685666use-position-file (bit, read/write)::
686667 In conjunction with *joint-pos-fb* (qv) emulate absolute encoders.
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