Power Brick Controller User Manual
Manual Motor Setup
129
Linear:
Motor[].PhasePosSf = 2048 *
RES
mm
/ (2
15
*
ECL
mm
)
Example:
A 36-bit serial encoder with 24 bits of single-turn ST and 12 bits of multi-turn position data
starting at bit #0 of serial data A register and continuously extending to bit #3 of serial data register B.
PowerBrick[].Chan[].SerialEncDataA
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Multi-Turn Position Data
Single-Turn Position Data
PowerBrick[].Chan[].SerialEncDataB
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Motor[].pPhaseEnc = PowerBrick[].Chan[].SerialEncDataA.a
Motor[].PhaseEncLeftshift = 8
Motor[].PhaseEncRightshift = 0
Rotary:
Motor[].PhasePosSf = 2048 *
NoOfPolePairs
/ (2
8
* 2
ST
)
Linear:
Motor[].PhasePosSf = 2048 *
RES
mm
/ (2
8
*
ECL
mm
)
Multi-Turn Position Data
Note
The
Motor[].PhasePosSf
is best entered as an expression (e.g. a ratio
of integers) to let the Power Brick AC calculate the exact value.
