Thanks Peter, > rate sample rate yet, but this could be tried by using the raw-write command > in your HAL init file. With a 5I20, the encoder sample rate is 33 MHz, when > the filter is on, 15 clocks are required to recognize an input (the ~.5 uSec > above) If for example the sample rate were lowered to 3.3 MHz, those 15 > clocks > would now be ~5 usec, much better at eliminating PWM interference, and stil > capable are reading encoder inputs up to ~400 KHz
How would I go about doing that? I'll start playing with chokes and other filtering first. I prefer to stop noise rather than trying to account for it in firmware. However it would be useful as a fallback plan. > If you disconnect one side of the differential inputs, that input will likely > not work as differential inputs have a 130 Ohm termination resistor and > enough > hyteresis that they will not switch when only one input is driven. That is a pity. One of the great things about a balanced line setup is that you can detect a broken wire. > There is no > encoder fault detection, that is better left to FE and PID saturation detect. I am not convinced. For instance if the cable fails just as you stop of while stopped, 'I' could easily drive the motor quite hard before any fault is detected. Les ------------------------------------------------------------------------------ Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
