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Power Brick Controller User Manual
Data Unpacking
The ADC inputs and motor phase outputs' data is packed by default in the Power PMAC firmware into
single 32-bit registers. Typically, this improves the efficiency of the computation algorithms, especially in
extremely high performance applications or with a large number of axes (up to 256).
However, this enhancement may not be as noteworthy with the Power Brick Controller considering the
significantly lower number of axes it is usually controlling. Also, the Power Brick Controller offers many
functions that do not support packed data which mandates unpacking them:
Sys.WpKey = $AAAAAAAA
PowerBrick[0].Chan[0].PackOutData =
PowerBrick[0].Chan[1].PackOutData =
PowerBrick[0].Chan[2].PackOutData =
PowerBrick[0].Chan[3].PackOutData =
PowerBrick[1].Chan[0].PackOutData =
PowerBrick[1].Chan[1].PackOutData =
PowerBrick[1].Chan[2].PackOutData =
PowerBrick[1].Chan[3].PackOutData =
PowerBrick[0].Chan[0].PackInData =
PowerBrick[0].Chan[1].PackInData =
PowerBrick[0].Chan[2].PackInData =
PowerBrick[0].Chan[3].PackInData =
PowerBrick[1].Chan[0].PackInData =
PowerBrick[1].Chan[1].PackInData =
PowerBrick[1].Chan[2].PackInData =
PowerBrick[1].Chan[3].PackInData =
Note
Manual Motor Setup
// Disable Write-Protection
0
// Channel #1 Unpack Output Data
0
// Channel #2 Unpack Output Data
0
// Channel #3 Unpack Output Data
0
// Channel #4 Unpack Output Data
0
// Channel #5 Unpack Output Data
0
// Channel #6 Unpack Output Data
0
// Channel #7 Unpack Output Data
0
// Channel #8 Unpack Output Data
0
// Channel #1 Unpack Input Data
0
// Channel #2 Unpack Input Data
0
// Channel #3 Unpack Input Data
0
// Channel #4 Unpack Input Data
0
// Channel #5 Unpack Input Data
0
// Channel #6 Unpack Input Data
0
// Channel #7 Unpack Input Data
0
// Channel #8 Unpack Input Data
Unpacking the data is critical for the proper operation of certain
features in the Power Brick Controller.
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