Rotary axis scale units 7i77. pid output minimum too large.

the ~2 MHZ 7I77 encoder rate is for all channels concurrently (the number of channels has no effect on this ) but does assume perfect 50% duty cycle signal, 1 MHz would
be a better practical limit.

I dont think there will be an issue with the encoder as long as you do not plug it into the system live. I suspect the 9A 0.3 ms ratting just means that the encoder has a fair sized bypass capacitor on the power input so will never get close to 9A unless plugged in live

Thanks for the help. If I should safely get 1Mhz I guess I'm going to hook up the oscilloscope and see what the encoder signals look like. I'm using shielded cat 5 cable for the signals, but I don't think I connected the shield to anything. Maybe that is my problem.

Forgot to mention, you would need to turn off the encoder filter (in the hal file) to get 2 MHz

Thank you, I will try that first.

Thank you very much. I turned off the filter and now it reads perfectly up to 1500 rpm (1.8M counts / sec)