Encoder
Libraries:
Embedded Coder Support Package for Infineon AURIX TC3x
Microcontrollers /
AURIX TC3x
Description
Measures the rotation of the motor in ticks.
The ticks port outputs the encoder ticks count as an int32
value.
The dir port, when enabled, outputs the direction of the encoder.
0
- clockwise direction.1
- counter-clockwise direction.
The Encoder block is developed based on GPT12 (general purpose timer) module available in the AURIX TC3x devices, where timer T3 & T5 (slow speed calculation) is used.
Ports
Input
msg — SoC Blockset simulation message
scalar
The block converts this input SoC Blockset™ message into encoder position and outputs it in ticks port during simulation.
Dependencies
To view this port, select the Enable simulation port parameter.
offset_in — Enable to add motor offset
scalar
The offset_in port enables you to dynamically add the offset in raw position with respective to the motor if required.
Dependencies
To enable this port, select the Enable offset inport parameter.
Data Types: int32
rate_in — Enable to change data rate
scalar
The rate_in ports enables you to change the rate at which the data is sampled at run time in seconds.
Dependencies
To enable this port, select the Enable refresh rate inport parameter.
Data Types: Float32
Output
ticks — Encoder position in count
scalar
The ticks port outputs the encoder position in count as an
int32
value.
Data Types: int32
dir — Current motor direction
scalar
The dir port outputs the current direction of the motor as one of the following:
0
- Clockwise direction1
- Counter clockwise direction
Dependencies
To enable this port, select the Enable direction port parameter.
Data Types: Boolean
speed — Mechanical speed of motor
scalar
The speed port outputs the mechanical speed (in rad/s) of the motor as
an float32
value.
Note
If you set the Enable slow speed detection parameter to measure slow speeds, you must set the sample time parameter of the block to be greater than one encoder ticks duration else the speed read is zero.
The encoder ticks rolling over on the higher side results in outliers in the speed calculation. You must use the Delay block to correct the speed of the motor.
Dependencies
To enable this port, select the Enable speed port parameter.
Data Types: float32
Parameters
Outputs
Enable direction port — Select to enable direction output port
off
(default) |
on
Enable this parameter to output the current direction of the motor.
Enable speed port — Select to enable speed output port
off
(default) |
on
Enable this parameter to output the mechanical speed (in rad/s) of the motor.
Inputs
Enable refresh rate inport — Select to enable refresh rate inport
off
(default) |
on
Enable this parameter to refresh the rate at which the data is sampled.
Dependencies
To view this parameter, select the Enable speed port parameter.
Enable offset inport — Select to enable offset input port
off
(default) |
on
Enable this parameter to dynamically add the offset in raw position with respective to the motor.
Sample time — Frequency at which block samples the input pin
-1
(default) |
scalar
|
vector
Specify in seconds how often the block should read the pin value.
When you specify this parameter as -1
, Simulink® determines the best sample time for the block based on the block
context within the model.
Enable simulation port — Enable peripheral simulation ports in the block
off
(default) |
on
Select this parameter to enable peripheral simulation capability.
Note
If you do not have a SoC Blockset license, the Enable simulation port parameter is visible but you cannot enable it.
Version History
Introduced in R2024a
See Also
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