Chris Radek wrote: > If you really have 65K-1M per rev, though, dP/dt is going to give you > a better than usual velocity estimate. If your hardware can measure > the real dt instead of the driver trusting the pc latency to be > negligible, even better? > > Well, this is somewhat confusing. Apparently, these Fanuc encoders have an interpolator that increases the resolution of a basic 2048-line encoder wheel. At low speeds, the absolute position report is good to either 65K or 1 million counts/rev. At some speed, it apparently zeroes out the interpolated part and only reports the 4096 count/rev part direct from the encoder. Probably at those speeds, there is no problem with that, but it seems there might be some kind of discontinuity as the interpolation is switched on and off.
Well, as none of this seems to be available in external documents, I will just have to experiment with it. I have a guy sending me a motor to work with. Jon ------------------------------------------------------------------------------ WhatsUp Gold - Download Free Network Management Software The most intuitive, comprehensive, and cost-effective network management toolset available today. Delivers lowest initial acquisition cost and overall TCO of any competing solution. http://p.sf.net/sfu/whatsupgold-sd _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
