Power Brick Controller User Manual
Connections and Software Setup
83
Using the ADC for Servo Feedback
Using the ADC data for servo feedback requires bringing it into the Encoder Conversion Table (ECT) into
which the motor’s position and velocity elements are assigned to.
Example
:
EncTable[
9
].Type =
1
EncTable[
41
].pEnc = PowerBrick[
0
].Chan[
0
].AdcAmp[
2
].a
EncTable[
41
].pEnc1 = Sys.pushm
EncTable[
41
].index1 =
16
EncTable[
41
].index2 =
16
EncTable[
41
].index3 =
0
EncTable[
41
].index4 =
0
EncTable[
41
].index5 =
0
EncTable[
41
].ScaleFactor =
1
/ EXP2(
16
)
Motor[
9
].pEnc = EncTable[
41
].a
Motor[
9
].pEnc2 = EncTable[
41
].a
