Power Brick Controller User Manual
Connections and Software Setup
70
Example:
A 29-bit serial encoder with 17 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 #28.
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
Multi-Turn Position Data
Single-Turn Position Data
Both single-turn and multi-turn data can be used for ongoing position. The entire bit length is shifted left
(using index1) 3 bits to place the MSB at bit #31.
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
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
17
= 131,072 motor units per revolution.
EncTable[1].type = 1
EncTable[1].pEnc = PowerBrick[0].Chan[0].SerialencDataA.a
EncTable[1].pEnc1 = Sys.Pushm
EncTable[1].index1 = 3
EncTable[1].index2 = 0
EncTable[1].index3 = 0
EncTable[1].index4 = 0
EncTable[1].index5 = 0
EncTable[1].ScaleFactor = 1 /
EXP2
(3)
Motor[1].ServoCtrl = 1
Motor[1].pEnc = EncTable[1].a
Motor[1].pEnc2 = EncTable[1].a
