Delta Tau PBC Series Hardware Reference Manual page 69

Power Brick Controller User Manual
Example: A serial encoder with 36 bits of single-turn (or an equivalent 1nm linear scale) position data
located in Serial Encoder Data A and B registers consecutively.
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
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
Reading and processing the 32 bits of position data in serial data register A is sufficient for producing the
proper ongoing position.
EncTable[1].type = 1
EncTable[1].pEnc = PowerBrick[0].Chan[0].SerialencDataA.a
EncTable[1].pEnc1 = Sys.Pushm
EncTable[1].index1 = 0
EncTable[1].index2 = 0
EncTable[1].index3 = 0
EncTable[1].index4 = 0
EncTable[1].index5 = 0
EncTable[1].ScaleFactor = 1
Activating the corresponding motor channel, and setting up the position and velocity pointers is sufficient
to display motor/encoder units in the position window.
Motor[1].ServoCtrl = 1
Motor[1].pEnc = EncTable[1].a
Motor[1].pEnc2 = EncTable[1].a
In this case, the user will see 2
And 1 / 0.000001 = 1,000,000 motor units per mm for a linear motor.
Connections and Software Setup
PowerBrick[i].Chan[j].SerialEncDataA
PowerBrick[i].Chan[j].SerialEncDataB
SingleTurn 36
= 2 = 68,719,476,736 motor units per revolution for a rotary motor.
3 2 1 0
3 2 1 0
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