Editing Using SinCos encoder

To use SinCos encoder sit analog sine and cosine voltage outputs, select the SinCos encoder from Granity's feedback device list [[FBD]]. The interpolation factor determines how many times the resolution is increased from the base resolution. Choices are:
*16X = equals resolution of encoder which has 16 times higher line count than non-interpolated encoder. I.e. 1000 lines encoder would yield 1000*4*16=64000 couns/rev resolution.
*64X = equals resolution of encoder which has 64 times higher line count than non-interpolated encoder. I.e. 1000 lines encoder would yield 1000*4*64=256000 couns/rev resolution.
*256X = equals resolution of encoder which has 256 times higher line count than non-interpolated encoder. I.e. 1000 lines encoder would yield 1000*4*256=1024000 couns/rev resolution.

In addition to choosing interpolation factory, the feedback device resolution parameter [[FBR]] need to be set accordingly: multiply the base resolution with interpolation factor. I.e. with 1000 line encoder and 16X interpolation, set FBR to 16000.

{{info|As resolution of feedback device changes, the motor travel per one "step" also changes. This affects the velocity and acceleration speed settings. Always check and update other parameters after interpolation factor is changed.}}

===Setup procedure===
#Choose [[FBD]] SinCos encoder with desired interpolation factor
#Update feedback device resolution [[FBR]] to match the new setting (see details in above)
#Check and update velocity/acceleration limits if needed