50.1. QEIV2 ABZ Encoder
50.1.1. Overview
Qeiv2 ABZ Encoder project demonstrates configuring the ABZ encoder and obtaining its data, then printing the data through a serial console.
50.1.2. Configurations
Install the serial terminal, view board information, and configure the serial terminal parameters
This program uses the BLM57050-1000 brushless motor of “Leisai Intelligence”, refer to the Leisai Intelligence website for the specific parameters of the motor.
Click DRV-LV50A-MP1907 Motor Driver Board section and configure
50.1.3. Running the Demo
Power on, open the serial terminal, log as following:
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$$\ $$\ $$$$$$$\ $$\ $$\ $$\
$$ | $$ |$$ __$$\ $$$\ $$$ |\__|
$$ | $$ |$$ | $$ |$$$$\ $$$$ |$$\ $$$$$$$\ $$$$$$\ $$$$$$\
$$$$$$$$ |$$$$$$$ |$$\$$\$$ $$ |$$ |$$ _____|$$ __$$\ $$ __$$\
$$ __$$ |$$ ____/ $$ \$$$ $$ |$$ |$$ / $$ | \__|$$ / $$ |
$$ | $$ |$$ | $$ |\$ /$$ |$$ |$$ | $$ | $$ | $$ |
$$ | $$ |$$ | $$ | \_/ $$ |$$ |\$$$$$$$\ $$ | \$$$$$$ |
\__| \__|\__| \__| \__|\__| \_______|\__| \______/
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qeiv2 abz encoder example
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
Rotating the motor will trigger an interrupt in the encoder’s calculation of speed, then printing the following information.
cycle0 --- pulse_snap0: 0x2, cylce_snap0: 0x1686b6d, spd : 1 deg/s
cycle0 --- pulse_snap0: 0x3, cylce_snap0: 0x16627c4, spd : 1 deg/s
cycle0 --- pulse_snap1: 0x2, cylce_snap1: 0x1686b6d, spd : 1 deg/s
cycle0 --- pulse_snap0: 0x3, cylce_snap0: 0x24dd73, spd : 19 deg/s
cycle0 --- pulse_snap0: 0xd, cylce_snap0: 0x25a71f, spd : 82 deg/s
cycle0 --- pulse_snap1: 0x3, cylce_snap1: 0x24dd73, spd : 19 deg/s
cycle0 --- pulse_snap0: 0xc, cylce_snap0: 0x2315c9, spd : 82 deg/s
cycle0 --- pulse_snap1: 0xd, cylce_snap1: 0x25a71f, spd : 82 deg/s
cycle0 --- pulse_snap0: 0x3, cylce_snap0: 0x176666, spd : 30 deg/s
cycle0 --- pulse_snap1: 0xc, cylce_snap1: 0x2315c9, spd : 82 deg/s
cycle0 --- pulse_snap1: 0x3, cylce_snap1: 0x176666, spd : 30 deg/s
cycle0 --- pulse_snap0: 0x22, cylce_snap0: 0x90d929, spd : 53 deg/s
cycle0 --- pulse_snap1: 0x3, cylce_snap1: 0x16627c4, spd : 1 deg/s
cycle0 --- pulse_snap0: 0x1, cylce_snap0: 0x1986a2, spd : 9 deg/s
cycle0 --- pulse_snap1: 0x1, cylce_snap1: 0x1986a2, spd : 9 deg/s
cycle0 --- pulse_snap0: 0x2, cylce_snap0: 0x25e74f, spd : 12 deg/s
cycle0 --- pulse_snap0: 0x2, cylce_snap0: 0x1a119d, spd : 18 deg/s
cycle0 --- pulse_snap1: 0x2, cylce_snap1: 0x25e74f, spd : 12 deg/s
cycle0 --- pulse_snap0: 0x8, cylce_snap0: 0x160b51b, spd : 4 deg/s
cycle0 --- pulse_snap1: 0x22, cylce_snap1: 0x90d929, spd : 53 deg/s
cycle0 --- pulse_snap1: 0x2, cylce_snap1: 0x1a119d, spd : 18 deg/s
cycle0 --- pulse_snap0: 0x1, cylce_snap0: 0x14aa84, spd : 11 deg/s
cycle0 --- pulse_snap0: 0x2, cylce_snap0: 0x1f9b08, spd : 15 deg/s
cycle0 --- pulse_snap1: 0x1, cylce_snap1: 0x14aa84, spd : 11 deg/s
cycle0 --- pulse_snap0: 0x3, cylce_snap0: 0x25bfd0, spd : 18 deg/s
cycle0 --- pulse_snap1: 0x2, cylce_snap1: 0x1f9b08, spd : 15 deg/s