Encoder

Measures rotation of motor in ticks

Since R2024a

• 

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 simulation message

scalar

The block converts this input SoC message into encoder position and outputs it in ticks port during simulation.

Dependencies

To view this port, select the Enable simulation port parameter and set the port type as SoC Data (Message based).

sig — Simulink based simulation signal

scalar | vector

The simulation-only Simulink^® signal input acts as pass-through with the output of the Encoder block during simulation.

Dependencies

To enable this port, select the Enable simulation port parameter and set the port type as Signal.

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 direction

• 1 - 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.

Port Type — Specify the type of peripheral simulation port

SoC Data (Message based) (default) | Signal

Select this parameter to configure either the SoC compatible or the simulink signal based simulation ports to enable peripheral simulation capability.

Dependencies

To view this parameter, select the Enable simulation port parameter.

Version History

Introduced in R2024a