> From: Dan Henderson [mailto:luvtof...@gmail.com]
> Slowing things down had marginal effect. Okay sounds like I need to by pass
> the optocouplers. Would you recommend I bypass all the encoder inputs as
> well as the PWM output to the MC2100 controller?
> 

What's the part number of the opto-couplers on your BoB?
If it's anyone of these then the data rate is 10Mbps

Single-Channel: 6N137, HCPL2601, HCPL2611
Dual-Channel: HCPL2630, HCPL2631
High Speed 10MBit/s Logic Gate Optocouplers

https://www.onsemi.com/pub/Collateral/HCPL2631-D.PDF

John




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