Working with BA-IS-XX-QAD/QAE blocks

Blocks BA-IS-XX QAD (quadrature decoder) and BA-IS-XX QAE (quadrature encoder) uses the concept of a "counter" to describe inputs and outputs in terms of segments of a quadrature encoder. A physical quadrature encoder generates two signals, and , which can be zero or one:

Time diagram of signals and it looks like this in the case of counterclockwise rotation (when the phase of the signal is ahead of the signal phase ):

A segment is each individual phase of a quadrature encoder, i.e. a combination of signal values. and .

An index label is a conditional boundary on a circle, the passage of which indicates a rectangular pulse on the line. . The index label indicates the starting position. For example, if you rotate by 90 degrees counterclockwise, then by 90 degrees clockwise, a rectangular pulse will be generated on the line .

For the block BA-IS-XX QAD the output "Counter" means the number of segments that have been received (counted) along the lines and for the current step of calculating the model. To convert the counter value to the rotation angle, you need to find out the number of encoder segments per revolution (from the encoder bit). For example, for a 16-segment encoder, the counter value 24 means one and a half turns clockwise. And the counter value -8 means a half-turn counterclockwise. The "index" indicates the number of pulses received on the line for the current step of calculating the model.

For the block BA-IS-XX QAE the "Counter" input means the number of segments that need to be issued (generated) along the lines and for the next step of calculating the model. For example, if you want to rotate the virtual 16-segment encoder three quarters clockwise, the counter value should be `12'. And if you need to turn the encoder two turns counterclockwise, the counter value should be `-24'.