Thank You, Andy and Charles! 2012/11/14 Peter C. Wallace <[email protected]>: > > if these are indeed 1000 CPR (250 line) thats correct, but if they are 1000 > line encoders (4000 counts per rev) max count frequency would be 200 KHz >
I do not get this one. The way I understand this is: each line on encoder is one count for the counter in each line - A or B. And only after both lines has been counted, together then they provide a chance to decode it to get 4x resolution of each separate line. Or am I wrong on this one? Anyway, I will have 5i23 card in that machine, so encoder counter will have max rate of 33 MHz. Even with a default digital filter and 15 times slower actual counting rate, it is 2 MHz. Even 200 kHz is only 10% of that, so filter constant could be increased at least two times. I do no know, what exactly is there on motors - I am still in process of setting up the control cabinet and assembling the mechanics, so wiring has not been started, so I cannot attach motor, turn it by hand and observe, how much pulses are reported. Those are MotionKing brushless DC servos (size 60 metric flange, almost Nema 23 size), it is indicated everywhere that there are 1000 counts per revolution. I would not be surprised if those actually were 1000 PPR (250 CPR) encoders - I already have had similar surprises from chinese suppliers... I just hope that 250 CPR would not be too small number to tune PID loop - motors are attached to 16:1 planetary reducers, so the actual resolution should be fine. > All hostmot2 encoder counters have digital filters on all inputs (A,B,Z). The > pass frequency of these filters can be set from MHz down to Hz Unfortunately > there is not a convenient HAL parameter to set the filter time so it must be > done using the raw-write facility. Where can I find out, how does the raw-write facility work? -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ Monitor your physical, virtual and cloud infrastructure from a single web console. Get in-depth insight into apps, servers, databases, vmware, SAP, cloud infrastructure, etc. Download 30-day Free Trial. Pricing starts from $795 for 25 servers or applications! http://p.sf.net/sfu/zoho_dev2dev_nov _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
