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Originally Posted by Al Skierkiewicz
Chris can you fill us in on the sensor that was failing and what the input frequency may have been?
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I'd have to look at the robot to be sure, but as I recall it was a 256 step optical encoder with quadrature. The arm was rotating around 4 rpm and the jack shaft was about 5 times that due to a 5:1 reduction between it and the arm. The arm position was what we were trying to control.
So say we had 20 rpm and 256 steps/rev, that works out to about 17Hz. Well within the capability of the sound card scope anyway
