| 0 |
Encoder |
1 MHz |
1 kHz |
Encoder counts from 0 to number of encoder counts per rotation (16 bit) |
| 1 |
Auxiliary Encoder |
1 MHz |
1 kHz |
Encoder counts from 0 to number of encoder counts per rotation (16 bit) |
| 2 |
Actual Position Low |
1 MHz |
1 kHz |
Lower 32 bits of actual position |
| 3 |
Target Position Low |
100 kHz |
1 kHz |
Lower 32 bits of target position |
| 4 |
Position Error |
1 MHz |
1 kHz |
Difference from Target Position and Actual Position. (32 bits) |
| 5 |
PID Output |
100 kHz |
1 kHz |
Output from the PID filter (16 bits) |
| 6 |
Phase A and Phase B |
10 kHz |
1 kHz |
Output current to the motor (upper 16 bits is phase A, lower 16 bits is phase B) |
| 7 |
GPIO |
100 kHz |
1 kHz |
General purpose I/O port digital levels (8 bits) |
| 8 |
ADC 0 |
4 kHz |
1 kHz |
Analog input channel 0 (24 bits) |
| 9 |
ADC 1 |
4 kHz |
1 kHz |
Analog input channel 1 (24 bits) |
