Specifications

9 ComputerBoards
9-90
The velocity is given by:
velocity = (distance(t
s
) - distance(t
s
-1)) / t
s
The direction is given by:
direction = distance(t
s
) - distance(ts-1)
A negative value is reverse, while a positive value is forward.
Driver Block Parameters
Function module - From the list choose, 1,or 2. This parameter specifies
which channel you use for this block. For the same board (same base address)
two blocks cannot have the same channel number.
Counter Reset by Index - From the list choose either Only First, or
Continuous.
If you choose
Only First, the first time the encoder reaches the index, the
counter is reset to zero, the
Init output signal is set to 1, and the encoder begins
to count. The encoder ignores all other times it reaches the index.
Init remains
1 until a rollover is detected, and then set to -1. A rollover is when the counter
reaches its maximum value and begins to start counting at zero again. A
rollover can also occur when the counter reaches its minimum value and the
counter resets itself to the maximum value and resumes counting down. The
outputs are still accurate after rollover. The -1 flag is used to alert that a
rollover has occurred.
If you choose,
Continuous, The first time the encoder reaches the index, the
counter is reset to zero, the
Init output signal is set to 1, and the encoder begins
to count. Each time the encoder reaches the index, it resets to zero.
Init
remains always at l because a rollover cannot occur.
Positive Rotation - From the list, choose either Clockwise or Counter
Clockwise. This parameter sets the direction for positive rotation. If you
choose
Clockwise, when the encoder is turned clockwise it counts up, and
when turned counter clockwise it counts down. If you choose Counter
Clockwise the counting direction is reversed.
Mode - From the list, choose Single,
Double, or Quadruple. This parameter
specifies the phase detection mode. That is, how many phase changes are
detected. For more information, see the board manual.