IC-PI datasheet(20/49 Pages) ICHAUS

20 / 49 page

preliminary

iC-PI PROGRAMMABLE 12-BIT

Sin/Cos INTERPOLATION IC WITH RS422 DRIVER

Rev B1, Page 20/48

POSITION DATA OUTPUT USING I2C

SENSDAT

Addr. 0x34-0x35

Addr.

Bits

Function

0x34 1

7:0

Sensor Data 11:4 2

0x35

7:4

Sensor Data 3:0 2

0x35

Pin X2 state 3

0x35

Pin X1 state 3

0x35

ESYNC: Error for sync. state

0x35

EINC: Error for incremental state

Notes

1 Accessing 0x34 latches the position registers

0x34...0x37 for consistent position data (using

PDMODE = 0).

2 The zero angle follows the zero position configured

by CFGZPOS.

3 Status of digital input pin (using DUAL = 1).

Table 13: Position Data: Angle

PERIOD

Addr. 0x36-0x37

Addr.

Bits

Function

0x36 4

PMODE: Period Counting Mode

0x36

6:0

Period high

0x37

7:0

Period low

Notes

4 Accessing 0x36 latches 0x36 and 0x37 for

consistent period data (using PDMODE = 1).

Table 14: Position Data: Period

By reading address 0x34, the internal single-turn posi-

tion (register sensor data) and multiturn position (reg-

ister period data) are latched, so that the position data

can be accessed by a burst read from address 0x34 to

0x37.

If the period counting mode PMODE is configured to 0,

the current period count of full sine-periods is presented

by the period registers. When passing the index mark in

the positive direction, the register’s value is cleared to

zero; when passing in the negative direction the signed

If the period counting mode PMODE is configured to 1,

the last period count between the last two consecutive

index signals is presented by the period registers. This

feature can be used with distance-coded index marks.

When moving in the positive direction, the MSB (sign

bit) is 0 and when moving in the negative direction,

the MSB is 1. The lower bits represent the unsigned

number of periods. The period register’s content is

zero initially, until two consecutive index signals have

passed in the same moving direction.

PMODE=1

PMODE=0

-4

0 1 2 3 4 0 1 2 3 4 0 1

-3

-5 -4 -3 -2 -1 -5 -4 -3 -2 -1 0 1

-2

Figure 9: Output of PERIOD register in PMODE 0

and 1 with index pulse every 5 periods

PMODE

Addr. 0x36, bit 7

Code

Function

Current counted periods

Last counted periods

Table 15: Period Counting Mode

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