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TMC4670 Datasheet PRELIMINARY • IC Version V0.99 | Document Revision V0.91 • 2016-Nov-09
PHI_M = PHI_E/N_POLE_PAIRS
(2)
Different encoders give different kind of position angles. Analog hall sensors normally give the electrical
position PHI_E that can be used for commutation. Analog encoders give - depending on their resolu-
tion - angles that have to be scaled first to mechanical angles PHI_M and to electrical angles PHI_E for
commutation.
Figure 5: N_POLE_PAIRS - Number of Pole Pairs
3.4.3 Numerical Representation of Angles PHI
Electrical angels and mechanical angles are represented as 16 bit integer values. One full revolution of
360 deg is equivalent to 216 = 65536 steps. Any position coming from a sensor is mapped to this interger
range. Adding an offset of PHI_OFFSET causes a rotation of an angle PHI_OFFSET/216. Subtraction of an
offset causes a rotation of an angle PHI_OFFSET in opposite direction.
Figure 6: Integer Representation of Angles with 16 Bit as s16 resp. u16
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