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SPRUI07–March 2020
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Enhanced Quadrature Encoder Pulse (eQEP)
Chapter 6
SPRUI07–March 2020
Enhanced Quadrature Encoder Pulse (eQEP)
The enhanced Quadrature Encoder Pulse (eQEP) module described here is a Type-0 eQEP. See the
C2000 Real-Time Control Peripheral Reference Guide for a list of all devices with a module of the same
type to determine the differences between types and for a list of device-specific differences within a type.
The enhanced quadrature encoder pulse (eQEP) module is used for direct interface with a linear or rotary
incremental encoder to get position, direction, and speed information from a rotating machine for use in a
high-performance motion and position-control system.
Topic ........................................................................................................................... Page
6.1 Introduction ..................................................................................................... 390
6.2 Configuring Device Pins.................................................................................... 392
6.3 Description ...................................................................................................... 392
6.4 Quadrature Decoder Unit (QDU) ......................................................................... 395
6.5 Position Counter and Control Unit (PCCU) .......................................................... 398
6.6 eQEP Edge Capture Unit ................................................................................... 404
6.7 eQEP Watchdog ............................................................................................... 408
6.8 Unit Timer Base................................................................................................ 409
6.9 eQEP Interrupt Structure ................................................................................... 410
6.10 eQEP Registers ................................................................................................ 410
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