A, the B and the INDX inputs. If a logic level at any of

these inputs remains stable for a minimum of two filter

clock periods, it is validated as a correct logic state.

The PCK input is common to all four axes, but the filter

clock frequency for any axis is set by its associated

MDR0 register.

In non-quadrature mode no filter clock is used and the

PCK input should be tied to either VDD or GND.

x0A (pin 24), x0B (Pin 25) Inputs. These are the A and B

count inputs in axis x0. These inputs can configured to

function either in quadrature mode or in non-quadrature

mode. The configuration is made through MDR0. In

quadrature mode, A and B clocks are 90 degrees out of

phase. When A leads B in phase, the CNTR counts up

and when B leads A in phase, the CNTR counts down.

In non-quadrature mode, A is the count input and B is the

count direction control input. When B is high, positive

transitions at the A input causes the CNTR to count up.

Conversely, when B is low, the positive transition at the

A input causes the CNTR to count down.

In quadrature mode, A and B inputs are sampled by an

internal filter clock generated from the PCK input. In non-

quadrature mode A and B inputs are not sampled and the

count clocks are applied to the CNTR bypassing the filter

circuit.

x1A (Pin 27), x1B (Pin 28), x2A (Pin 32), x2B (Pin33),

x3A (Pin 35), x3B (Pin36)

These are the A and B inputs corresponding to axes x1,

x2 and x3. Functionally, they are identical with the A and

B inputs of axis x0.

x0INDX (Pin 23) Input. The INDX input in axis x0. The

INDX input can be configured by MDR0 to function as

load_CNTR or reset_CNTR or load_OL input. In quad-

rature mode the INDX input is sampled with the same

filter clock used for sampling the A and the B inputs. In

quadrature mode the INDX must satisfy the phase

relationship with A and B in which INDX is at the active

level during a minimum of quarter cycle of both A and B

high or both A and B low. The active level can be

configured to be either high (positive index) or low

(negative index).

In non-quadrature mode the INDX input is not sampled

and can be applied in any phase relationship with respect

to the A and B inputs.

The INDX input can be either enabled or disabled in both

quadrature and non-quadrature modes.

x1INDX (Pin 26), x2INDX (Pin 29), x3INDX (Pin 34)

These are the INDX inputs corresponding to axes x1, x2

and x3. Functionally, they are identical with the INDX

input of axis x0.

INT/ (Pin 45) Output

The INT/ output is the common interrupt output for all the

axes. When any of the ISR bits gets set, INT/ switches

low indicating an asserted interrupt. The axis generating

the interrupt can then be identified by reading the ISR

register.

x0FLGa (Pin 48) Output. The FLGa output in axis x0. The

FLGa output is configured by MDR1 register to function as

either Carry or Borrow or Compare flag. A Carry flag is

generated when the CNTR overflows, a Borrow flag is

generated when the CNTR underflows and a Compare

flag is generated by the condition, CNTR = PR. The FLGa

can be configured to produce outputs in either latched

mode or instantaneous mode. In the latched mode when

the selected event of Carry or Borrow or Compare has

taken place, the FLGa switches low and remains low until

the status register, STR is cleared. In the instantaneous

mode a negative pulse is generated instantaneously when

the event takes place. The FLGa output can be disabled

to remain at a fixed logic high.

x1FLGa (Pin 46), x2FLGa (Pin 41), x3FLGa (Pin 39)

These outputs are the FLGa outputs corresponding to

axes x1, x2 and x3, respectively. Functionally, they are

identical with the FLGa output of axis x0.

x0FLGb (Pin 47) Output. The FLGb output in axis x0. The

FLGb output is configured by MDR1 to function as either

Index or Sign or Up/Down status indicator.

When configured as Sign, the FLGb output remains high

when CNTR is in an underflow state (caused by down

counts at or below zero), indicating a negative number.

When the CNTR counts up past zero, FLGb switches low,

indicating a positive number.

When configured as Up/Down indicator, a high at the

FLGb indicates that the current count direction is up

(incremental) whereas a low indicates that the direction is

down (decremental).

The FLGb output can be disabled to remain at a fixed

logic high.

x1FLGb (Pin 42), x2FLGb (Pin 40) x3FLGb (Pin 38)

These are the FLGb outputs corresponding to axes x1, x2

and x3 respectively. Functionally, they are identical with

the FLGb output of x0.

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