Constantly check encoder index signal ?

Hi,
I had an encoder that when it got hot would stop pulsing correctly. The problem was the missing pulses were so brief it fell within my following error so the motor just compensated resulting in a large undetected error after a while. I have since solved this by keeping the encoder cooler but would be happier with a more comprehensive solution.

Is there any way of constantly monitoring the index channel to check if it occurs when expected?

Thanks,
Guy

Yes, this is something I've though about for a while
At least with Mesa hardware and the software encoder component (not sure about others)
Its theoretically possible to always have the low level index enabled in the driver
and to check:

1. That index occurs every turn
2. That the raw encoder count at index mod counts/turn is ~=0 (to verify that no counts have been gained/lost)

Unfortunately this needs to be done in the driver (mesa or other hardware encoders) or the encoder component
rather than a simple hal change

Hi PCW,
I am using a 5i25 with 7i76_7i77 for the encoders, how much trouble do you think it would be to build into the driver ?