Power Brick Controller User Manual
Connections and Software Setup
69
Example:
A serial encoder with 36 bits of single-turn (or an equivalent 1nm linear scale) position data
located in Serial Encoder Data A and B registers consecutively.
PowerBrick[
i
].Chan[
j
].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
PowerBrick[
i
].Chan[
j
].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
Reading and processing the 32 bits of position data in serial data register A is sufficient for producing the
proper ongoing position.
Activating the corresponding motor channel, and setting up the position and velocity pointers is sufficient
to display motor/encoder units in the position window.
In this case, the user will see 2
SingleTurn
= 2
36
= 68,719,476,736 motor units per revolution for a rotary motor.
And 1 / 0.000001 = 1,000,000 motor units per mm for a linear motor.
EncTable[1].type = 1
EncTable[1].pEnc = PowerBrick[0].Chan[0].SerialencDataA.a
EncTable[1].pEnc1 = Sys.Pushm
EncTable[1].index1 = 0
EncTable[1].index2 = 0
EncTable[1].index3 = 0
EncTable[1].index4 = 0
EncTable[1].index5 = 0
EncTable[1].ScaleFactor = 1
Motor[1].ServoCtrl = 1
Motor[1].pEnc = EncTable[1].a
Motor[1].pEnc2 = EncTable[1].a
