I'm under the impression that the encoders are 1 million counts per rev. I did a crude test where I rotated the pully associated with the motor one full turn as marked by a sharpie line on the face of the pulley. Seemed to deliver around 2 million raw counts, and the pulley appears like it could be 1:2 ratio.
I also observed 4 cycles of the commutation output from the HAL Fanuc Encoder pin for one rotation (if I remember correctly!).
These computer-side details can be adjusted as I setup the system. Now I need to figure out what extra hardware I need to talk to 4 of these at once, and also how to output either commutation to the Allen-Bradley Ultra-3000 drives or incremental encoder signals. I'm fully out of inputs and outputs on my 7i76e used on the machine so I will need to get some expansion hardware.
Expansion needs:
-4x serial ports (maybe just 3 if I can also use the one in the 7i76e, but Mesa seems to sell them in breakout boards of 4 or 6).
-8 or more outputs to communicate encoder or commutation information to the Ultra3000 (still figuring out what the drives will need)
Wondering what the most cost effective Mesa solution would be to add onto my system.
Or maybe someone knows if there is there setup that does not require sending encoder or commutation information to the Ultra3000s. Can't seem to find whether or not these drives can be run 'open-loop' or/ with feedback only being taken care of on the LCNC side (doubtful?).
