3 Motor Shaft Position Through eQEP

A majority of the time, mechanical angular positional sensors obtain the rotor position. Incremental encoders are one of the popular solutions to determine rotor position because they provide high-angular resolution and an accurate derived speed feedback over the whole speed range. These features enable incremental encoders to be frequently used for speed/position control in motor control applications.

Today, many servo motors come with built-in incremental position encoders, commonly referred to as ABZ encoders by the names of their output signals, A, B and I, to feedback the motor-shaft angle once you know the index. Table 3-1 shows the data pins required by the QEP peripheral that should be wired to the corresponding pins on the encoder.