Power Brick Controller User Manual
Manual Motor Setup
154
Example:
A 36-bit serial encoder with 24 bits of single-turn 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[].pAbsPhasePos = PowerBrick[].Chan[].SerialEncDataA.a
Motor[].AbsPhasePosFormat = $00001800
Motor[].AbsPhasePosSf = 2048 * NoOfPolePairs / 2
24
Motor[].AbsPhasePosOffset = –PhaseForcePos * Motor[].AbsPhasePosSf
Multi-Turn Position Data
The PhaseForceTest value can be found by performing a manual force phasing (locking the motor onto
phase B) and recording the 17 bits of single-turn position data.
PhaseForcePos =
PowerBrick[].Chan[].SerialEncDataA & $00FFFFFF
.
