Erik Friesen wrote: > I am not so sure about the parallel port and encoder idea though, the > encoders I see are up to 1000 per rev, that requires a pretty fast base > period to handle that, not? <2us ? > > It all depends on the RPM. 1000 count/rev encoders would be fine with software conting at low speeds, but would miss counts at higher speeds. That's why most systems use hardware encoder counting. > Also, how would emc2 handle encoders with steppers? > Using the Pico Systems Universal Stepper Controller, it works very easily. You flip a switch on the board to make it count the encoder instead of the step pulses it issues. But, of course, it can't help the stepper driver when the motor stalls. The condition will be detected, but it can't recover. However, position won't be lost, so you can just reset from the following error message and continue.
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