NMotionTM NCoder730 is a Breakout Board for MPS MagAlpha MA730 Magnetic Encoder. The MA730 detects the absolute angular position of a permanent magnet, typically a diametrically magnetized cylinder on a rotating shaft. Fast data acquisition and processing provide accurate angle measurements at speeds from 0 to 60,000 rpm. The MA730 supports a wide range of magnetic field strengths and spatial configurations. This can be used for both end-of-shaft and off-axis (side-shaft mounting) configurations.
- Features
- Applications
- Specifications
- Breakout Board Datasheet
- Library Installation
- API Functions for SPI Interface
- Compatibility
- 14-Bit Resolution Absolute Angle Encoder
- Contactless Sensing for Long Life
- SPI Serial Interface for Digital Angle Readout and Chip Configuration
- Incremental 12-Bit ABZ Quadrature Encoder Interface with Programmable Pulses Per Turn from 1 - 1024
- PWM Output 14-Bit
- General Purpose Angle Measurements
- High-Resolution Angle Encoders
- Automotive Angle
- Robotics
- Power Supply Voltage: 3.3V
- Operating Current: < 12mA
- Incremental Encoder Resolution: 1-1024 PPR
- Absolute Encoder Resolution: 14-bits
- PWM Output Resolution: 14-bits
- Operating Temperature: -40oC to 125oC
- Product Dimension: 20x20mm(LxW)
- Mounting Hole: 2mm (4 holes)
To use this library, download the library file first, paste it into the \Arduino\libraries directory, then open the examples folder and run the demo in the folder.
/**
* @brief Initialization function for SPI Interface
*
* @param spiChipSelectPin Chip Select pin for SPI Communication
*/
void beginSPI(uint8_t spiChipSelectPin);
/**
* @brief Initialization function for SPI Communication with SPI Settings
*
* @param spiSclkFrequency SPI Clock Frequency for NCoder730
* @param spiMode SPI Mode for NCoder730
* @param spiChipSelectPin SPI Chip Select Pin
*/
void beginSPI(int32_t spiSclkFrequency, uint8_t spiMode, uint8_t spiChipSelectPin);
/**
* @brief Set the Spi Clock Frequency
*
* @param speedMaximum Clock frequency for SPI Communication
*/
void setSpiClockFrequency(uint32_t speedMaximum);
/**
* @brief Set the Spi Data Mode for SPI Communication
*
* @param spiMode Mode for SPI Communication
* @n MA730 IC support SPI mode 3 and 0 [SPI_MODE3, SPI_MODE0]
* @n NCoder730_SPI_MODE_0
* @n NCoder730_SPI_MODE_3
*/
void setSpiDataMode(uint8_t spiMode);
/**
* @brief Set the Spi Chip Select Pin for SPI Communication
*
* @param spiChipSelectPin Digital Pin for Chip Select
*/
void setSpiChipSelectPin(uint8_t spiChipSelectPin);
/**
* @brief Function to end SPI Transaction/Communication
*
*/
void endSPI();
/**
* @brief Function to write default configurations to the registors
*
*/
void writeDefaultConfigurations();
/**
* @brief Reads absolute encoder angle
*
* @return return absolute_angle in degrees
*/
double readAbsoluteAngle();
/**
* @brief Reads raw value of absolute angle
*
* @return return raw absolute angle
*/
uint16_t readAbsoluteAngleRaw();
/**
* @brief Reads raw value of absolute angle with error check
*
* @param error retreive error
* @return return raw absolute value
*/
uint16_t readAbsoluteAngleRaw(bool* error);
/**
* @brief Reads raw value of absolute angle with 8bit resolution
*
* @return returns 8 bit raw absolute value
*/
uint8_t readAbsoluteAngleRaw8();
/**
* @brief Converts raw absolute angle to degrees
*
* @param rawAngleDataBitLength data length of raw angle
* @param rawAngle 16-bit / 8bit raw absolute angle value
* @return returns absolute angle in degrees
*/
double convertRawAngleToDegree(uint8_t rawAngleDataBitLength, uint16_t rawAngle);
/**
* @brief Set the Zero Position of the NCoder730
*
* @param angle offset angle in degrees for zero positioning
*/
void setZeroPosition(float angle);
/**
* @brief Get the Zero Position Offset Angle of the NCoder730
*
* @return returns zero position offset angle in degrees
*/
float getZeroPosition();
/**
* @brief Set the Pulse Per Turn for NCoder730
*
* @param ppr Pulse Per Revolution value of the Encoder in Incremental Mode
* @n CPR is 4 times PPR
*/
void setPulsePerTurn(uint16_t ppr);
/**
* @brief Get the Pulse Per Turn value of Incremental Encoder for NCoder730
*
* @return returns the PPR value
*/
uint16_t getPulsePerTurn();
/**
* @brief Set the Rotation Direction for the NCoder730
*
* @param dir direction value
* @n true -> clockwise
* @n false-> anticlockwise
*/
void setRotationDirection(bool dir);
/**
* @brief Get the Rotation Direction of the NCoder730
*
* @return returns true if the rotation direction is clockwise
* @return returns false if the rotation direction is anticlockwise
*/
bool getRotationDirection();
/**
* @brief Set the Magnetic Field Low Threshold value for NCoder730
* Following values can be set: 26mT, 41mT, 56mT, 70mT ,84mT ,98mT ,112mT ,126mT.
*/
void setMagneticFieldLowThreshold(uint8_t MAGLT);
/**
* @brief Set the Magnetic Field High Threshold value for NCoder730
* Following values can be set: 20mT, 35mT, 50mT, 64mT ,78mT ,92mT ,106mT ,120mT.
*/
void setMagneticFieldHighThreshold(uint8_t MAGHT);
/**
* @brief Get the Magnetic Field Low Threshold of NCoder730
*
* @return returns the MGLT value (refer datasheet for more details)
*/
uint8_t getMagneticFieldLowThreshold();
/**
* @brief Get the Magnetic Field High Threshold of NCoder730
*
* @return returns the MGHT value (refer datasheet for more details)
*/
uint8_t getMagneticFieldHighThreshold();
/**
* @brief Get the Magnetic Field Low Level Status of NCoder730
*
* @return returns true if the magnetic field is below the low threshold.
* @return returns false if the magnetic field is above the low threshold
*/
bool getMagneticFieldLowLevelStatus();
/**
* @brief Get the Magnetic Field High Level Status of NCoder730
*
* @return returns true if the magnetic field is above the high threshold.
* @return returns false if the magnetic field is below the high threshold
*/
bool getMagneticFieldHighLevelStatus();
/**
* @brief Set the Index Length
*
* @param length is the length of index pulse
* Four Possible values accepted: Index lenght is
* 0.5 times the A or B pulse length
* 1 times the A or B pulse length
* 1.5 times the A or B pulse length
* 2 times the A or B pulse length
* Refer Fig 26 Page No. 23 of MA730 IC datasheet for more details
*/
void setIndexLength(float length);
/**
* @brief Get the Index Length
*
* @return returns the length of index pulse with respect to A or B pulse length
*/
float getIndexLength();
/**
* @brief Set the Index Position with respect to channel A or B
*
* @param pos is value for setting rising edge of Index pulse with respect to A or B pulse
* 0 : index rising edge is aligned with the channel B falling edge
* 1 : index rising edge is aligned with the channel A rising edge
* 2 : index rising edge is aligned with the channel B rising edge
* 3 : index rising edge is aligned with the channel A falling edge
*/
void setIndexPosition(uint8_t pos);
/**
* @brief Get the Index Position with respect to channel A or B
*
* @return returns the value of pos which is as follows:
* 0 : index rising edge is aligned with the channel B falling edge
* 1 : index rising edge is aligned with the channel A rising edge
* 2 : index rising edge is aligned with the channel B rising edge
* 3 : index rising edge is aligned with the channel A falling edge
*/
uint8_t getIndexPosition();
| MCU | Work Well | Work Wrong | Untested | Remarks |
|---|---|---|---|---|
| Arduino Uno | √ | |||
| Teensy 4.1 | √ | |||
| Arduino MEGA2560 | √ | |||
| ESP32-S | √ |