Andrew,
Honestly, the thought of direct mounting an encoder to an RS550 has never even crossed my mind. Mostly because I'm still living in the days where processing that many pulses per second was a pipe dream.
I haven't done the math, but you might be close to pushing the limits of the cRIO's FPGA module, which is what handles the pulse counting/timing.
https://decibel.ni.com/content/message/12523
You may want to spec out your pulse per revolutions carefully to make sure everything plays nicely.
On top of that, R49 might limit you if you're planning on mounting the encoder directly to the back of the motor. Mounting holes drilled into the back of the motor likely won't be legal.
Quote:
[R49]
Motors, servos, and electric solenoids used on the Robot shall not be modified in any way, except as follows:
The mounting brackets and/or output shaft/interface may be modified to facilitate the physical connection of the motor to the Robot and actuated part.
The electrical input leads may be trimmed to length as necessary.
The locking pins on the window motors (PN 262100-3030 and 262100-3040) may be removed.
The connector housings on the window motors (PN 262100-3030 and 262100-3040) may be modified to facilitate lead connections.
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To share some experiences, I tend to avoid the E4Ps even though they are really convenient encoders. I've had issues with the disc slipping on the shaft and lose their spacing. Also, don't ever try and disconnect the supplied connectors. It's a quick way to destroy the pads on the PCB. If you choose to use the E4P, be sure to pinch the teeth on the disc so that they provide a death grip on the shaft. I've had a number work themselves loose during a competition.
These days I universally recommend Grayhill 63R series encoders, and to slip surgical tubing over the shaft. Slip the other end of the surgical tubing over the shaft you want to measure. Usually on a shaft that's after the gearbox, as close to the driven assembly as possible.