Timers in quadrature decoder mode

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Posted on May 02, 2009 at 12:28

Timers in quadrature decoder mode

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Posted on May 17, 2011 at 13:10

Hi!

I want to use an STM32F103ZE to control a 4 axis CNC machine (with DC servos and quadrature encoders).

As I understand, I can use TIM2..5 to simultaneously capture the 4 encoder positions, but I wonder which pins to use. Would this be ok? :

TIM2_CH1 Enc. 1 Phase A

TIM2_CH2 Enc. 1 Phase B

TIM3_CH1 Enc. 2 Phase A

TIM3_CH2 Enc. 2 Phase B

TIM4_CH1 Enc. 3 Phase A

TIM4_CH2 Enc. 3 Phase B

TIM5_CH1 Enc. 4 Phase A

TIM5_CH2 Enc. 4 Phase B

The Reference Manual is a little bit unclear here. Can the other timer channels 3/4 also be used for quadrature capture?! Or do I have to use TIMx_CH1/2?

What do the signals TI3FP3, TI3FP4, TI4FP3 and TI4FP4 on page 270 do?!

I can't find any other reference to them in the manual..

Also, the firmware library seems to lack an example program for quadrature capture.

Greetings from Germany,

Thomas Kindler

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Posted on May 17, 2011 at 13:10

Hmm, after reading the data sheet, it seems that there's no pin for TIM2_CH1..

Is there a way to use CH3 / CH4 instead?!