41.2. Tamagawa encoder communication

41.2.1. Overview

Communication with Tamagawa encoders using peripherals such as PLA, DMA, SPI, etc.

  • Get data with different DataIDs

  • Read and write EEPROM

  • Error messages (CRC errors, communication errors, encoder error messages)

  • Communication delay compensation

41.2.2. Board Setting

  • Expansion board TMAGAWA RevA to plug into the core board

  • Connect encoder TS5700N8401

  • Plug in J2 pins 1 and 2 on the board TMAGAWA RevA

41.2.3. Running the example

When the project is running correctly, the serial terminal will output the following information, and the position information will change when the encoder axis is rotated:

cmd:3 time:638, abs pos:4170741, abm pos:0, id:23.
cmd:3 time:631, abs pos:4170741, abm pos:0, id:23.
cmd:3 time:631, abs pos:4170740, abm pos:0, id:23.
cmd:3 time:634, abs pos:4170740, abm pos:0, id:23.
cmd:3 time:639, abs pos:4170741, abm pos:0, id:23.
cmd:3 time:632, abs pos:4170741, abm pos:0, id:23.
cmd:3 time:630, abs pos:4170742, abm pos:0, id:23.

Note

  • Call tmgw_message_process function to update the data of tmgw_msg, which contains the information of the above function

  • Switching command, you need to modify tmgw_dev.comm_time_delay_config to turn off the communication function, and then do the configuration of PLA , DMA. Otherwise, it will generate an error message once and then return to normal