Quote:
Originally Posted by techhelpbb
We split the encoder like this.
A to both.
B to both.
GND to both.
VSupply from only one.
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If you connect the two GND wires together you can expect to have ground loop issues. This is only a problem with heavy loads where the motors are drawing significant current. We saw this issue last year in the CAN bus ground wire. We have an opto isolator in the circuit to prevent the ground loop.
So far the motors drive well. We see some unbalance, but not very much. We are still investigating if this unbalance is real, or inherit in our logging scheme.
Attached are two step response graphs from recent testing, one showing current and the other showing speed, both from the same run.
-Hugh