Peter C. Wallace wrote:
> Timestamp based velocity estimation improves this quite a bit (the software
> encoder, Mesa and Pico systems encoders all have this feature)
Careful! Only the Universal PWM Controller currently has the timestamp
feature. I do intend to get it into
the other products sometime. As far as I know, no one else is using it
on Pico products, as the driver side
of the feature won't get into the docs until 2.5 is released.
but I suspect a 1 million count encoder is going to beat the
timestamp system by a wide margin.
One problem with the Fanuc serial encoders is they report the position
count when interrogated, so you
lose the ability to timestamp the arrival of the counts. On the other
hand, the higher angular resolution
certainly should help reduce the rumbling, etc. from getting just a
couple counts/servo cycle.
Jon
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