Power Brick Controller User Manual
Connections and Software Setup
77
Example:
A 32-bit Gray code serial encoder with 20 bits of single-turn in serial data register A starting at
bit #4, and 12 bits of multi-turn position data in serial data register B starting at bit #8.
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
Single-Turn Position Data
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
Multi-Turn Position Data
The single turn data must be shifted 8 bits left first. This shift is done using the upper 5 bits of the $aa byte
of
Motor[
x
].AbsPosFormat
. The data would then look like:
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
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[
x
].AbsPosFormat = $
Note
Encoders with multi-turn position data are typically set up as signed.
Shift data A left 8 bits
Motor[1].pAbsPos = PowerBrick[0].Chan[0].SerialEncDataA.a
Motor[1].AbsPosSf = 1
Motor[1].AbsPosFormat = $8308200C
Motor[1].HomeOffset = 0
