Configuring Quadrature Encoders; Counts Per User Units - Delta PBC Series User Manual

Power Brick Controller User Manual

Configuring Quadrature Encoders

The Power Brick Controller default settings are configured for quadrature encoders. Minimal setup is
required to configure them; quadrature encoder signals are processed as a single 32-bit read in the encoder
conversion table (ECT). 1/T extension is done in the Gate3 "hardware".
The default ECT settings for an incremental quadrature encoder look like:
EncTable[1].type = 1
EncTable[1].pEnc = PowerBrick[0].Chan[0].ServoCapt.a
EncTable[1].pEnc1 = Sys.Pushm
EncTable[1].index1 = 0
EncTable[1].index2 = 0
EncTable[1].index3 = 0
EncTable[1].index4 = 0
EncTable[1].ScaleFactor =
Note
Channel Quadrature Encoder
Number Source Address
1 PowerBrick[0].Chan[0].ServoCapt.a
2 PowerBrick[0].Chan[1].ServoCapt.a
3 PowerBrick[0].Chan[2].ServoCapt.a
4 PowerBrick[0].Chan[3].ServoCapt.a
Activating the corresponding channel is sufficient to display counts in the position window when the motor
/ encoder shaft is moved by hand.
Motor[1].ServoCtrl = 1
The position and velocity source(s) must be pointing to the proper ECT result. With quadrature encoders,
they are initiated by the firmware:
Motor[1].pEnc = EncTable[1].a
Motor[1].pEnc2 = EncTable[1].a

Counts per User Units

With quadrature encoders, the number of counts per user units (usually revolution) is 4 times the specified
number of lines of the encoder. For example, a 1,000–line rotary encoder should result in 4,000 motor units
per revolution.
Connections and Software Setup
1 / 256
The hardware 1/T extension produces 8 bits of fractional data, thus
the (1 / 256) 0.00390625 scale factor.
// Channel activation
// Position
// Velocity
// Single 32-bit read
// Primary source, ch 1 Servo Capture
// Secondary source, none
// left shift, none
// right shift, none
//
//
// Scale Factor, LSB location
Channel Quadrature Encoder
Number Source Address
5 PowerBrick[1].Chan[0].ServoCapt.a
6 PowerBrick[1].Chan[1].ServoCapt.a
7 PowerBrick[1].Chan[2].ServoCapt.a
8 PowerBrick[1].Chan[3].ServoCapt.a
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