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BiSS C Encoder Setup with ACC-84E


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For your reference, here is an example of setting up feedback for a single motor using a BiSS C Encoder with 26 bits of resolution with ACC-84E for ongoing position and absolute position (this example does not set phasing or commutation up):

 

Acc84E[0].SerialEncCtrl=$63000B;
Acc84E[0].Chan[0].SerialEncCmd=$21149A;

#define NumberOfEncoderBits 26 

EncTable[1].type=2;
EncTable[1].pEnc=Acc84E[0].Chan[0].SerialEncDataA.a
EncTable[1].pEnc1=Acc84E[0].Chan[0].SerialEncDataB.a
EncTable[1].index1=32-NumberOfEncoderBits; // = 32 - # of bits of encoder
EncTable[1].index2=0;
EncTable[1].index3=0;
EncTable[1].index4=0;
EncTable[1].MaxDelta=0;
EncTable[1].ScaleFactor=1/exp2(NumberOfEncoderBits); // =1/exp2(32 - # of bits of encoder)

Motor[1].AbsPosFormat = $080008 + (NumberOfEncoderBits * 256); // =$00081A08 for 26-bits 
// unsigned numerical binary using bits 31:8 of DataA and 10:8 of DataB

Motor[1].pAbsPos=Acc84E[0].Chan[0].SerialEncDataA.a
Motor[1].AbsPosSF=1

 

Note that to retrieve the absolute position at will from the encoder, just issue a #nHMZ command, where "n" is the motor number.

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