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Re: What encoders do you use?
If you want to be cheap, use a hal effect bi-polar latch. We had a situation where mounting a shaft encoder was not nice. We attached a diametrically magnetized neodymium disc magnet to the end of the cim shaft and then mounted a Melexis US4881LUA within 3/8" of the magnet giving a non-contact Tachometer. $1.30 for 10 pieces. Used a male-female PWM cable and soldered it and a pull up resistor onto the male ends. Have to switch some pins. This will not give direction like a quadrature encoder. Can be used to give counts for distance and with a little more code velocity. Use the counter VI. Cheap non contact sensing.
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