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TMS320F28069M: reconfiguring Lab13b to use absolute position sensor

Mathew Maher49
Expert 2115 points
Part Number: TMS320F28069M

HI,

I'm looking to understand how to feed an absolute position sensor into the SpinTAC MOVE/CONV/CTL functions in place of the current calculated QEP encoder feed. 

Can you tell me the difference between eRev and mRev? 

Given an absolute postion feed (0..8192 per Rev), how would this be formatted to entry into the SpinTAC modules?

Would it be preferable to directly feed into STPOSCTL_setPositionReference_mrev(), or should it go through STPOSCONV_setElecAngle_erev() first?

thanks

Mat

  • 0
    TI__Guru** 115480 points
    You might design a function to convert the signal from the absolute position sensor to the electrical angle, to replace the ENC_calcElecAngle() as below in ISR, and then use the angle to replace ENC_getElecAngle() in the project. The electrical angle is IQ24 format, the _IQ(0.0)~_IQ(1.0) means 0~360 degree.

    You'd better call ST_runPosConv() to apply the electrical angle though you could set mechanical position to STPOSCTL_setPositionReference_mrev() directly.

    eRev is the electrical revolution, and mRev is the mechanical revolution