Overview

Overview

Encoder Block Configuration

Ts = Sample Period (1/SampleRate)

All other parameters including Encoder Pitch, and Encoder Resolution are pulled from the Drive/Motor block that the encoder is attached to.

Placement of the encoder is to allow the encoder to be used with complex mechanical structures in between the motor and the encoder.

Note: In a real system the encoder is attached to the back of a motor, however in simulation to be able to give the encoder knowledge of complex mechanical structures, the encoder must be placed after the multiple-body spring mass system.

Matlab/Simulink

Simulink Interface

Note which parameters from the Motor shaft are used to generate a position, this includes the Position and Velocity, which are multiplied by the encoder resolution, divided by the encoder pitch, and quantized by the sample rate to yield the final output. This is important when designing your own custom mechanical structures to make sure you output useable values to the encoder.

Note: When a model containing the Encoder block is downloaded to a controller, the block is discarded and not saved in the controller firmware. This block is a simulation block only.