PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Features:
Functional and pincompatible with obsolete
TI CF32007NW/NT / THCT12016 /
THCT 12024 / LS2000
5 V and 3.3 V Operation
0.6u CMOS Process
Direction discriminator
Pulse width measurement
Frequency measurement
Cascadable (PE12016G only)
TTL compatible
8 Bit parallel tristateable Bus
Simple read & write procedure
High speed 20 MHz clock operation
PE12016G ONLY: 1:1 Replacement for
LS2000AN
PE12024G ONLY: 24-Bit resolution,
separate UA0 counter reset
WEEE & RoHS Compliant according
DIRECTIVE 2002/95/EC
(Green Package Material)
PE12016G
PDIP28-600 Mil
1
CS
28
CS
VCC
UA0
RD
UP
RD
D0
DOWN
D0
A1
D1
WE
D1
WE
D2
RESET
D2
RESET
D3
A0
D3
CLK
GND
CLK
D4
UA2
D4
UA2
D5
UA1
D5
UA1
D6
M0
D6
M0
D7
M1
D7
M1
BORROW
M2
GND
M2
GND
12
READY
24
A0
GND
CARRY
14
VCC
PE12024G
PDIP24-300 Mil
13
KLI-KLO
15
Description:
The
PE12016G/12024G
INCREMENTAL
ENCODER INTERFACE can independently
determine the direction or displacement of a
mechanical device or axis based on two input
signals
from
transducers in quadrature.
Alternatively, it can measure a pulse width using
a known clock rate, or a frequency, by counting
input pulses over a
December 15, 2005 (Version 1.7)
known time interval. It includes one 16-bit or 24bit counter which may also be used separately
(PE12016G only). The PE12016G may be
cascaded to provide accuracy greater than 16bits. Both devices are designed for use in many
microprocessor-based systems.
Seite 1 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Availability:
The PE12016G/24G is available as replacement
IC or Netlist IP Core, fully compatible with the
obsolete TI CF32007NW/NT functionality. The
replacement IC is packaged within the popular
PDIP28-600 Mil (PE12016G) and the PDIP24300 Mil package (PE12024G).
The IP Core can be targeted to any desired
FPGA/CPLD or ASIC Technology and is
delivered within the according netlist format. The
database has been proven in a co-emulation
together with the reference part by stimulating
both devices with the same inputs and observing
the identical results on the outputs.
Ressource Usage IP Core:
Gate count for ASIC Technologies is 1700 Gates.
For CPLDs 128 Macrocells are needed, resulting
in a Xilinx XC95144 CPLD
Differences:
The
PE12016G/24G
has
some
minor
enhancements. UA1 and UA2 are synchronized
with the clock, eliminating the need to place a
discrete ACT74 type Flipflop in front of these
signals. Due to this feature a latency of one clock
cycle is introduced, resulting worst case in a +/-1
counter difference.
The output driver capability is slightly decreased.
Pullups are on the following pins: /A1, /UP,
/DOWN and /KLI-KLO. UA0 has a Pulldown. The
value is approximately 75 kOhm. For further
details refer to the application notes at the end of
this datasheet.
Applications:
The PE12016G/12024G enables mechanical
devices to be interlaced with micro-processors. It
may be used in many diverse applications,
including robotics, printers/plotters, tracker balls
(or mouse), lathes and machine tools,
automobiles, conveyor belts and transport
mechanisms.
Architecture:
The four main elements of the PE12016G are
shown in Fig 2:
1. The measurement and mode control logic
generates up or down count pulses,
internal signals (I1 and I2) from the
quadrature signals Ua1 and Ua2, the
clock input and from Mode Controls (M0,
M1, M2).
2. The control logic provides common
microprocessor interface signals.
3. The output multiplexer allows the
processor to select data from either the
upper (MS-byte) or the lower (LS-byte)
4. The 3-state buffers place this data on the
bus
December 15, 2005 (Version 1.7)
The PE12024G-architecture, shown in Figure: 3,
is very similar to that of the PE12016G, except
for the up/down counter which has 24-bits and
can be independently reset by Ua0. The
cascading feature has also been removed.
Seite 2 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
M0
Ua1
M1
M2
UP
DOWN
8-Bit
UP/DOWNCOUNTER
MEASUREMENT
LOGIC
Ua2
8-Bit
UP/DOWN
COUNTER
CARRY
BORROW
CLK
RESET
16-Bit LATCH
CONTROL
LOGIC
CE
MULTIPLEXER
RD
3-STATE
OUTPUT BUFFER
A0
KLIKLO WE
D0......D7
LSB MSB
READY
Fig. 1: PE 12016G Block Diagram
M0
Ua1
M1
M2
Ua0
24-Bit UP/DOWNCOUNTER
MEASUREMENT
LOGIC
Ua2
CLK
RESET
24-Bit LATCH
CONTROL
LOGIC
CE
MULTIPLEXER
RD
3-STATE
OUTPUT BUFFER
A1/A0
D0......D7
LSB MSB
WE
Fig. 2: PE12024G Block Diagram
December 15, 2005 (Version 1.7)
Seite 3 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Operation:
The eight modes of operation of the PE12016G/12024G are summarized in Table 1.
Mode
M2
M1
M0
Mode Description
COUNTER
16-bit (PE12016G only) up/down counter (inhibits direction
discriminator)
DIRECTION DISCRIMINATOR
1
Single count pulse synchronous with Ua1 rising in forward
direction and Ua1 falling in backward direction.
Single count pulse synchronous with Ua2 rising in forward
direction and Ua2 falling in backward direction.
Double count pulse synchronous with Ua1 rising and falling.
Double count pulse synchronous with Ua2 rising and falling.
Quadruple count pulse synchronous with all edges.
PULSE WIDTH MEASUREMENT
6
Ua1 is the gate signal
Ua2 is high for up counting and low for down counting.
Count is synchronous with rising clock.
FREQUENCY MEASUREMENT
December 15, 2005 (Version 1.7)
Ua1 is frequency signal to be measured
Ua2 is the gate signal of known time interval.
Count is synchronous with rising edge of Ua1.
Seite 4 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Table 1: PE12016G/12024G Operation Modes
Detailed Information about the different Modes:
Mode 0: 16-Bit Up/Down Counter Mode
In this mode the PE12016G may be used as a
fast 16-bit up/down counter with cascade
capability. This is operated using the /UP and
/DOWN inputs.
The states of the counter outputs are transferred
to a 16-bit latch. The contents of this 16-bit latch
are multiplexed on a 8-bit parallel data bus
(D0D7) and enabled using /RD and /CS.
The up/down counters are loaded in individual 8bit bytes by the /WR and /CS signals, with the
byte selected by the /A0 input. The counter may
be cleared using the /RESET signals (which
clears both counter and control logic), or
individually, using Ua0 signal (PE12024G) only.
Cascading to n-bits is possible using inputs /UP
and /DOWN, outputs /BORROW, /CARRY and
the input-outputs /KLI-KLO (PE12016G only).
/A0 is the control input for the byte multiplexer. A
high level at this input transfers the least
significant byte to the data outputs; and a low
level transfers the most significant byte.
NOTE:
The PE12024G cannot be used in Mode 0 since /UP and /DOWN inputs are not available.
To read or load the 24-bit (PE12024G only) in all
modes, /CS, /RD or /WR, /A0 and /A1 are used
to perform the Read or Write operation. The
operation should always start with the LSB
(/A0=/A1=HIGH), followed by the LSB+1
(/A0=LOW, /A1=HIGH) and then the MSB
(/A0=HIGH, /A1=LOW).
/A0
/A1
BYTE
REMARKS ON D0-D7
H
L
H
L
H
H
L
L
LSB
LSB+1
MSB
ALL X
PE12016G only
PE12024G
extensions
Table 2: PE12024G Address Select
December 15, 2005 (Version 1.7)
Seite 5 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Mode 1-5 : Direction Discriminator Modes
The quadrature signals Ua1 and Ua2 identify
forward or backward directions. If Ua1 leads
Ua2, the forward direction is indicated and the
counter
will count up; if Ua1 lags Ua2, the reverse
direction is indicated and the counter will count
down.
Fig. 3: Direction Discriminator Modes
Both Ua1 and Ua2 are stored on the clock falling
edge in the first of a pair of consecutive D-type
flip-flops, and are transferred to the next on the
clock rising edge. By comparing the states of the
four flip-flops and checking the mode inputs, the
up or down count pulses are generated; see
Figures 4 and 5.
Fig. 4: Direction Discriminator Up Clock
December 15, 2005 (Version 1.7)
Seite 6 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Fig. 5: Direction Discriminator Down Clock
MODES 1 to 5 define which edge of the
quadrature signals will be counted in accordance
with Table 1.
The clock frequency should be at least four times
greater than the frequencies of the quadrature
signals: this will eliminate problems resulting from
timing jitter in the transducer signals and will
allow
F=
the quadruple counting mode to be used. The
frequency of the quadrature signals, Ua1 and Ua2
may be calculated from the relationship:
shaft _ speed
resolution _ of _ transducer
MODE 6: Pulse Width Measurement Mode
In this mode, Ua1 acts as a gate, and is the
pulse width to be measured. Synchronised with
the clock edge after a low to high transition in
Ua1, counting begins at the input clock
frequency. Similarly, synchronised with the clock
edge after a high to low transition of Ua1,
counting is disabled. The value in the counter is
loaded in the output register, /KLI-KLO
(PE12016G only) is pulled low and then the
counter clears. See Figure 7. If Ua2 is held high,
the counter will count up, and if Ua2 is held low,
the counter will count down.
December 15, 2005 (Version 1.7)
Each counter can be preloaded in two or three
bytes (PE12024G only) by activating /CS, and
/WE, and selecting the individual bytes with /A0,
and/or /A1 after Ua1 has fallen and before the
next preload takes place.
The KLI-KLO signal (PE12016G only) may be
used as an interrupt to indicate to the processor
when the output register has been loaded. In the
pulse width mode, the output register will not be
loaded via /CS and /RD, but by the falling edge
of Ua1.
Seite 7 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
In pulse width mode, the minimum time that can be measured is:
Tmin = 2 (To) (Accuracy is +/- To)
Fig. 6: Pulse Width Measurement
MODE 7: Frequency Measurement Mode
In Mode 7, Ua1 is the signal of unknown
frequency to be measured; Ua2 is a gate signal
of known width. A low to high transition of Ua2
enables counting at the frequency of Ua1. When
the gate (Ua2) goes low, counting is disabled.
The value of the counter is loaded into the output
register, /KLI-KLO is pulled low (PE12016G
only), and the counter is then cleared. See
Figure 8.
Fig. 7: Frequency Measurement
December 15, 2005 (Version 1.7)
Seite 8 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Reset Operation:
A total reset is initiated by pulling the /RESET pin
low. This will clear the counters to zero, reset the
D flip-flops at the inputs of the quadrature signals
(Ua1 and Ua2), clear the latches that inhibit the
load register pulse, and load zero into the
register.
To avoid a spurious count error (+/- 1) after a
reset, the Ua1 and Ua2 inputs should be held to
the values indicated in Table 3 during and just
after the reset pulse.
MODE
Ua1
Ua2
1-5
6-7
Table 3: Ua1 and Ua2 levels during reset operations
NOTE:
If a /RESET=LOW appears during a read or write cycle of the PE12016G,
the /READY output will stay LOW as long /RESET is active.
Cascading Devices (PE12016G only)
The /KLI-KLO pins of all cascaded PE12016Gs
should be tied together, so that all of the devices
load their output registers at the same time.
When the Master generates a pulse for the
other PE12016Gs, /KLI-KLO on the Master
works as an output, and /KLI-KLO on the Slaves
work
as inputs. The /CARRY output of one device
should be tied to the /UP input of the next device
in the cascade. Similarly, /BORROW should be
connected to /DOWN.
Write Operation
A number may be preloaded into the counter by
pulling /CS and /WE low while using /A0 /A1*
(/A1* PE12024G only) to direct the value on the
data bus to the selected byte of the counter.
December 15, 2005 (Version 1.7)
This will cause /READY (PE12016G only) to go
low on the next falling clock edge, and remain
low until /CS or /WE goes high. See Figure 10.
Seite 9 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Read Operation
When in Modes 0 to 5 the contents of the counter
can be read at any time by pulling /CS and /RD
low. The most significant byte may be selected
by setting /A0 low, and the least significant byte
may be read by setting /A0 high (PE12016G
only, for PE12024G see Table 2). This will
cause a load output register pulse to be
generated and /KLI-KLOn will go low during the
next low clock pulse. /READY (PE12016G only)
will also go low as the clock goes low, and will
stay low until /CS and/or /RD go high. The load
output register pulse stores the current value of
the counter in a 16-bit or 24-bit latch register: /A0
and /A1 (PE12024G only) direct the selected
byte through a multiplexer to the outputs : /CS
and /RD also enable the 3-stat outputs see
Figure 9.
The output register will be loaded immediately if
/KLI-KLO (PE12016G only) is pulled low
externally; this signal normally comes from a
cascaded device.
For Modes 6 & 7 see the earlier description of
these modes.
Configuration
Special consideration should be paid to the
automatic
configuration
features
of
the
PE12016G/12024G. The purpose of these
features is to allow for the different order of byte
reads
(high then low or low then high) of different
processors when doing a word read across a
byte wide bus and also to
automatically
configure when devices are cascaded.
Byte Order Configuration
After a system reset has occurred, the first read
operation will store the value of /A0 /A1 into a
latch within the device. From that time until the
next system reset the load output register pulse
will only be generated during a read operation if
/A0 /A1 is at this stored value.
This means that the internal load output register
pulse is correctly generated for word operations
regardless of the byte order of the particular
processor. Special care should be taken when
reading individual bytes to ensure that these
operations are always done in a consistent order.
Cascaded configuration (PE12016G only)
After a system reset the first device and channel
to receive a read operation (/RD and /CS = LOW)
configures itself into Master mode and outputs a
pulse on /KLI-KLO. In cascaded operation the
/KLI-KLO pins of the cascaded channels are
connected together and the input pulse on /KLIKLO of the cascaded channels configures these
to Slave mode. On all subsequent read
operations the load output register pulse is only
generated by the Master channel (for the
December 15, 2005 (Version 1.7)
appropriate polarity of /A0 and /A1 (PE12024G
only), as noted above) and this is fed to the
Slave devices via the /KLI-KLO connection.
Special care must be taken when cascading
devices or channels to always read in the same
channel order, as well as the byte order already
mentioned - see also Systems Application.
Seite 10 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Pin Description
Pin Name Pin Number
I/O
Description
PDIP28
PDIP24
PE12016G PE12024G
/CS
/RD
1
2
1
2
D0
D1
D2
D3
D4
D5
D6
D7
3
4
5
6
8
9
10
11
3
4
5
6
8
9
10
11
/BORROW
12
Output
(PP)
Push-pull output of the Counter
underflow signal (PE12016G only).
/CARRY
13
Output
(PP)
Counter
only)
/KLI-KLO
15
/READY
16
Input/
Output
(OD with
Pull-up)
Output
(PP)
M2
17
13
Input
M1
18
14
Input
M0
19
15
Input
Ua1
Ua2
20
21
16
17
Input
Input
December 15, 2005 (Version 1.7)
Input
Input
Chip Select. A low enables the device.
Read. When this and /CS are active
(low), the data from the output register
will be present on the data bus.
LSB
Input/
Data Bus Buffer:
Output 8-Bit bidirectional Buffer with 3-state
(3-state) outputs connected to the microprocessor
system.
MSB
Seite 11 / 25
overflow
signal
(PE12016G
Cascade load input / cascade load
output. Open drain (OD) output with
internal 75K
(nom) pull-up. (PE12016G only)
When active low, the signal indicates to
the MPU that read or write may be
completed. /READY falling edge is
synchronous with CLK. The push pull
output requires no external pull-up
resistor (PE12016G only).
Mode Select Inputs (see Table 1)
Measuring input signals
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Pin Description - continued
Pin Name Pin Number
I/O
Description
PDIP28
PDIP24
PE12016G PE12024G
Ua0
23
Input
Reset input for
(PE12024G only)
CLK
22
18
Input
Clock.
Used for internal synchronisation and
control timing.
/A0
23
19
Input
Byte select.
A high level selects the least significant
byte. /A1=1 with PE12024G
A low level selects the most significant
byte (/A1=High with the PE12024G)
see Table 2.
/A1
22
Input
Byte select.
A low level with /A0=High selects the
MS-byte (Bits 16-23) on the PE12024G
/RESET
24
20
Input
Device Reset.
When active (low), the control logic is
reset to a known state and the counter is
cleared.
/WE
25
21
Input
Write enable.
When /WE and /CS are active (low), the
data that is on the bus is loaded into the
counter.
/DOWN
26
Input
Cascade Input for
(PE12016G only)
/UP
27
Input
Cascade Input
(PE12016G only)
Vcc
28
24
GND
7, 14
7, 12
December 15, 2005 (Version 1.7)
the
for
24-bit
counter
counting
counting
down.
up.
Power Supply voltage
Ground
Seite 12 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Operating Conditions
Absolute Maximum Ratings over operating free air temperature:
Symbol
Parameter
VCC
DC Supply Voltage
VIN
DC Input Voltage
IIN
DC Input Current
Storage Temperature (Plastic Package)
Value
-0.3 to + 7.0
-0.3 to VCC + 0.3
+/- 10
-40 to +125
Units
V
V
mA
C
DC Characteristics (referred to GND):
Symbol
VOH
All except,
/READY and /KLI-KLO
Parameter
Test Condition
Min
Output
High Level
IOH = -20 uA
VCC-0.1
IOH = -12 mA, VCC = 5.0V
2.4
IOH = -6 mA, VCC = 3.3V
2.4
VOH D0-D7
VOH
All except D0-D7,
/READY and /KLI-KLO
TTL
Schmitt Trigger
VIL
Output
Low Level
Input
High Level
Input
Low Level
ICC
Supply current
20 MHz
VCC=Max
VOL
VIH
VT+
VTVHYS
IOZ
Schmitt Trigger
positive going
threshold
Schmitt Trigger
negative going
threshold
Schmitt Trigger
Hysteresis
Tristate Output
Leakage Current
Typ
IOH = 20 uA
Max
Units
0.1
2.0
2.4
V
0.5
10
mA
VCC =
Min to Max
2.4
VCC =
Min to Max
0.5
VCC =
Min to Max
VCC =
Max or GND
0.2
-10
+10
uA
IIH
Input High current
Input with pullup
VIN = VCC
-10
-200
+10
-10
uA
uA
IIL
Input Low
current
VIN = GND
-10
+10
uA
Recommended Operating Conditions:
Symbol
VCC
VCC
TAC
December 15, 2005 (Version 1.7)
Parameter
DC Supply Voltage
DC Supply Voltage
(Low Power Application)
Temperature Range
Seite 13 / 25
Value
4.5 to 5.5
3.0 to 3.6
Units
V
V
0 to +70
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Timing Requirements over Recommended Operating Conditions
Symbol
Parameter
MIN
TYP
MAX Units
Tc1
CLK Cycle Time, duty cycle 50%
50
ns
Tc2
Pulse width low CLK Tr, Tf<5ns
25
ns
Twrs
Pulse width, /RESET input low
50
ns
fmud
Maximum frequency, /UP or /DOWN,
Input duty cycle 50% (PE12016G only)
20
Twud
Pulse width, /UP or /DOWN input low (PE12016G
only)
25
ns
Twk
Pulse width, /KLI-KLO input low (PE12016G only)
20
ns
Twrd1
Pulse width, /RD input low (Mode = 6 & 7)
Twrd2
Pulse width, /RD input low (Mode = 0 to 5)
Tdrd
Time between two or three* Read cycles (LSB or
LSB+1* and MSB)
ns
Twwr
Pulse width, /WE input low
25
ns
Tdwr
Time between two or three* Write cycles (LSB or
LSB+1* and MSB)
ns
Tsd
Set up time, DATA prior to /WE
15
ns
Twua0
Pulse width, Ua0 input high*
25
Tsus
Set up time, /CS and /RD low before CLK falling edge
15
ns
Tsa
Set up time, /A0, /A1* prior to /WE and /CS low
10
ns
Tsud
Set up time, /UP or /DOWN rising edge before CLK
falling edge (PE12016G only)
20
ns
Tsab
Set up time, Ua1 or Ua2 prior to CLK falling edge.
15
ns
Tsda
Set up time, DATA prior to /WE
Tsd
ns
Tsbb
Set up time, Ua2 stable before CLK falling edge
15
ns
Tsac
Set up time, Ua1 or Ua2 rising edge before CLK falling
edge.
15
ns
Tsar
Set up time, /A0, /A1* stable before /CS and /RD low
after reset
10
ns
Tsbc
Set up time, Ua1 or Ua2 falling edge
15
ns
Tsr
Set up time, /RESET high prior to CLK falling edge.
ns
Tsuc
Set up time, /UP or /DOWN rising edge prior to
/KLI-KLO (input) falling edge (PE12016G only).
20
ns
December 15, 2005 (Version 1.7)
Seite 14 / 25
25
MHz
ns
Tc1
ns
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Timing Requirements over Recommended Operating Conditions - continued
Symbol
Parameter
MIN
TYP
MAX Units
Thdw
Hold time DATA after /WE
Twgp
Pulse width, Ua1 input high (Mode = 6)
Min 2 x Tc1
ns
Twgp
Pulse width, Ua2 input high (Mode = 7)
Min 2 x Tc1
ns
Tdgp
Pulse width, Ua1 input low (Mode = 6)
Min 2 x Tc1
ns
Tdgf
Pulse width, Ua2 input low (Mode = 7)
Min 2 x Tc1
ns
Tha
Address hold time after /WE or /CS high
12
ns
Thab
Ua1 or Ua2 hold time after CLK falling edge
12
ns
Thda
D0-D7 hold time after /A0 or /A1* change
10
ns
Thac
Ua1 high hold time after CLK falling edge
12
ns
Thbc
Ua2 hold time after CLK falling edge
12
ns
Twrh
Pulse width, Ua0 input high
ns
10
ns
* PE12024G only
December 15, 2005 (Version 1.7)
Seite 15 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Switching Characteristics, (Vcc=Min, Temperature +70 Degrees)
Symbol
Parameter
Test Conditions
See appendix A
(test pattern)
MIN
TYP
MAX Units
Tdd1
Access time, /RD and CLK to
data output valid
(Mode = 0 to 5)
65
ns
Tdd2
Access time, /RD to data
output valid
nd
rd
Mode = 0 to 5 2 byte or 3
byte*
Mode = 6 to 7 both bytes, or all
three bytes (PE12024G only)
45
ns
Thr
Propagation delay /RD, /WE or
/CS inactive to /READY
From CS
(PE12016G only)
20
ns
Tdr
Propagation delay CLK to
/READY low (PE12016G only)
30
ns
Tduc
Propagation delay /UP or
From /UP to
/DOWN rising edge to /CARRY
/CARRY
or /BORROW rising edge
(PE12016G only)
35
ns
Tdcc
From /CLK to
Propagation delay from CLK to
/CARRY or
/CARRY or /BORROW rising
from
/CLK
to
edge (PE12016G only)
/BORROW
25
ns
Tdco
Propagation delay CLK falling
edge to /KLI-KLO falling edge
(PE12016G only)
55
ns
Tdcb
From /CLK to
Propagation delay CLK rising
edge to /CARRY or /BORROW
/CARRY or
rising edge (PE12016G only)
/BORROW
25
ns
Ted
Enable Time /RD and /CS low
to D0-D7
65
ns
Twco
/KLI-KLO low output pulse
width (PE12016G only)
Twcb
Tc2
ns
/CARRY or /BORROW low
output pulse width (PE12016G
only)
Twud
ns
Twcc
/CARRY or /BORROW low
output pulse width (PE12016G
only)
Tc2
ns
Thdr
Release time,
DATA after /RD, /CS
December 15, 2005 (Version 1.7)
From /CS
DATA >0116 ZZ16
Seite 16 / 25
45
ns
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Twud
UP or
DOWN
Tduc
CARRY or
BORROW
Twcb
Twrh
UA0
Fig. 8: Timing Mode 0
Fig. 9: Timing Mode 1 - 5
Fig. 10: Timing Mode 6-7
December 15, 2005 (Version 1.7)
Seite 17 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Fig. 11: Read Cycle
December 15, 2005 (Version 1.7)
Seite 18 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Fig. 12: Write Cycle
December 15, 2005 (Version 1.7)
Seite 19 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
System Application
The implementation of a three axis control
system with the PE12016G, 12024G is shown in
Figure 14. The microprocessor accesses each
channel,
memory mapped I/O or I/O addresses with
normal read or write cycles. CLK frequencies up
to 20MHz can be sourced directly from the
microcontroller. For an external freeze, all /KLIKLOs can be connected together and driven by
the external freeze-logic. This logic must be
designed such that all PE12016G/12024Gs are
programmed into the slave mode before the first
read or write cycle appears and must be
synchronised with CLK.
A0...A15
If the /READ output (PE12016G only), is used, it
must be externally wire-ORed (not shown in
Figure 14) and fed to the microcontroller
/READY input. An external zero pulse from the
resolver can drive the PE12024G Ua0 input.
Address
Address BUS
Decoder
8-Bit
MicroController
D0...D7
RD
RD
PE12016G/
PE12024G
WE
A0 /1
CS
D0...D7
RD
PE12016G/
PE12024G
WE
A0 /1
CS
D0...D7
RD
PE12016G/
PE12024G
WE
RESET
RESET
RESET
CLK
CLK
CLK
M0 /1 /2
M0 /1 /2
M0 /1 /2
Ua0
Ua1
Ua2
MODE SELECT
A0 /1
KLI-KLO
D0...D7
Ua0
Ua1
Ua2
SystemRESET
CS
KLI-KLO
WR
Ua0
Ua1
Ua2
Clk
8-Bit DATA BUS
KLI-KLO
RESET
1/2
FREEZE
Axis 1
Axis 2
Axis 3
Fig. 13: Block Diagram for a three-axis Control System
December 15, 2005 (Version 1.7)
Seite 20 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Cascading the PE12016G
Figure 15 shows the cascading of two
PE12016Gs for 32-bit resolution. The master
(LS-word) needs to be programmed to mode 5
and the slave (MS-word) to mode 0 (count only).
The /KLI-KLO inputs of both devices are
connected together. An external pull-up is not
required since it is on-chip. Optional /KLI-KLO
signal could be used as an external freeze input.
In this case, both devices operate in slave mode
(see Figure 15 cascaded configuration) by
generating a /FREEZE low pulse, synchronous
with CLK before the first read
ADR
A0
RD WE
or write cycle appears after /RESET.
In normal applications, the PE12016G receiving
the first read/write cycle after initialisation via a
/RESET, is programmed into master mode.
/CARRY an /BORROW of the master PE12016G
are connected to the /UP and /DOWN inputs of
the slave. If /READY is used to slow down the
microprocessor read/write cycle, both /READY
outputs must be ORed to generate a common
READY signal.
CLK
D0...D7(MSB)
8-Bit Data Bus
Dec
Vcc
CS
CLK
D0...D7
A0
UP
Ua1
Ua1
Ua2
RD WE
CS
D0...D7
A0
UP
CARRY
PE12016G
MASTER
(LS-Word)
CLK
Ua1
Ua2
CAR
CARRY
PE12016G
SLAVE
(MS-Word)
READY
RD WE
READY
Ua2
DOWN
DOWN
BORROW
KLI-KLO
M0 M1 M2
RESET
BOR
BORROW
KLI-KLO
M0 M1 M2
RESET
READY
&
RESET
FREEZE
Fig. 14: Cascading of two PE12016G for 32-bit Resolution
December 15, 2005 (Version 1.7)
Seite 21 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
PDIP24/28 Package Dimensions
Package Drawing:
Fig. 15: PDIP24/28 Package Dimensions
Package availability chart and ordering code:
PE12016G
PE12024G
PDIP24-300 mil
PDIP28-600 mil
no
PE12016G-PDIP28
PE12024G-PDIP24
no
December 15, 2005 (Version 1.7)
Seite 22 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Application Notes:
Read Cycle:
The read cycle is intended and designed synchronous to the clock. Special care has to be taken for
the parameter Tsus (the setup time of the falling edge of /RD before the falling CLK edge). If Tsus is not
within spec, there is the possibility that the output register is not updated and the same value will be
read twice.
Therefore the microprocessor system collecting the data and PE12016G/12024G should either have
the same clock or the /RD on the PE12016G/12024G has to be synchronized into the
PE12016G/12024G clock domain via an ACT74 Type Flipflop.
Cascading:
Cascaded channels which use the /UP, /DOWN Inputs for counting have to be configured to Mode 0.
The /UP, /DOWN inputs will have no effect in other Modes. This behaviour is different to CF32007 but
not considered serious.
Mode 0:
Mode 0 (PE12016G) is only recommended for cascading. Other applications have to take care of the
parameter Tsuc. PE12016G might give out an invalid value, if this specification is not met. To avoid
this, the microprocessor should take care, that data will only be read, when /UP or /DOWN are
logically high. Typically this can be achieved by gating these inputs via microprocessor ports by
discrete AND/OR gates.
Electrical Design Recommendations:
It is recommended that the PE12016G/12024G is used without a socket and with at least 1 decoupling
capcitors (100 nF) connected to VCC and GND close to the package.
December 15, 2005 (Version 1.7)
Seite 23 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
IMPORTANT NOTICE
Productivity Engineering GmbH (PE) reserves the right to make corrections, modifications, enhancements,
improvements, and other changes to its products and services at any time and to discontinue any product or
service without notice. Customers should obtain the latest relevant information before placing orders and should
verify that such information is current and complete. All products are sold subject to PEs terms
and conditions of sale supplied at the time of order acknowledgment.
PE warrants performance of its hardware products to the specifications applicable at the time of sale in
accordance with PEs standard warranty. Testing and other quality control techniques are used to the extent PE
deems necessary to support this warranty. Except where mandated by government requirements, testing of all
parameters of each product is not necessarily performed.
PE assumes no liability for applications assistance or customer product design. Customers are responsible for
their products and applications using PE components. To minimize the risks associated with customer products
and applications, customers should provide adequate design and operating safeguards.
PE does not warrant or represent that any license, either express or implied, is granted under any PE patent right,
copyright, mask work right, or other PE intellectual property right relating to any combination, machine, or process
in which PE products or services are used. Information published by PE regarding thirdparty products or
services does not constitute a license from PE to use such products or services or a warranty or endorsement
thereof.
Use of such information may require a license from a third party under the patents or other intellectual property of
the third party, or a license from PE under the patents or other intellectual property of PE.
Resale of PE products or services with statements different from or beyond the parameters stated by PE for that
product or service voids all express and any implied warranties for the associated PE product or service and is an
unfair and deceptive business practice. PE is not responsible or liable for any such statements.
Figures
Fig. 2: PE 12016G Block Diagram .................................................................................................................. 3
Fig. 3: PE12024G Block Diagram ................................................................................................................... 3
Fig. 4: Direction Discriminator Modes .......................................................................................................... 6
Fig. 5: Direction Discriminator Up Clock ..................................................................................................... 6
Fig. 6: Direction Discriminator Down Clock ................................................................................................ 7
Fig. 7: Pulse Width Measurement .................................................................................................................. 8
Fig. 8: Frequency Measurement..................................................................................................................... 8
Fig. 9: Timing Mode 0................................................................................................................................... 17
Fig. 10: Timing Mode 1 - 5........................................................................................................................... 17
Fig. 11: Timing Mode 6-7............................................................................................................................. 17
Fig. 12: Read Cycle .......................................................................................................................................... 18
Fig. 13: Write Cycle.......................................................................................................................................... 19
Fig. 14: Block Diagram for a three-axis Control System........................................................................ 20
Fig. 15: Cascading of two PE12016G for 32-bit Resolution .................................................................. 21
Fig. 16: PDIP24/28 Package Dimensions ................................................................................................... 22
Tables
Table 1: PE12016G/12024G Operation Modes ............................................................................................ 5
Table 2: PE12024G Address Select ............................................................................................................... 5
Table 3: Ua1 and Ua2 levels during reset operations ............................................................................... 9
December 15, 2005 (Version 1.7)
Seite 24 / 25
PE12016G/24G
PE12016G / PE12024G
Incremental Encoder
December 15, 2005 Version 1.7
Mailing Address:
Productivity Engineering GmbH
Behringstr. 7
D-71083 Herrenberg
Germany
Phone: (+49) 7032 / 2798-0
Fax: (+49) 7032 / 2798-29
Email: info@pe-gmbh.com
Webpage: www.pe-gmbh.com
December 15, 2005 (Version 1.7)
Seite 25 / 25
PE12016G/24G
