Using SinCos encoder
To use SinCos encoder sit analog sine and cosine voltage outputs, select the SinCos encoder from Granity's feedback device list Feedback deviceFBD. 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 Feedback device resolutionFBR 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.
 | 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. |
| With very high resolution feedback devices, one may run into a problem of limited value range of velocity and acceleration parameters (i.e. velocity limit is set to maximum, but higher value would be desired). To overcome this, reduce Setpoint dividerDIV parameter value which sets the scale of velocity/acceleration limits. I.e. if you change DIV from 100 to 10, you will get 10 times more range in velocity limit. Also change Setpoint multiplierMUL accordingly if the original scaling of setpoint is desired. |
Setup procedure
- Choose Feedback deviceFBD SinCos encoder with desired interpolation factor
- Update feedback device resolution Feedback device resolutionFBR to match the new setting (see details in above)
- Check and update velocity/acceleration limits if needed
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