KOP Encoders.

[otherguy]

Originally Posted by TenaciousDrones

Another question, how do I wire the encoder? Like I can't find the index port on the digital sidecar.

I'm not familiar with the AS5145 in particular, but wiring should be like any other rotary encoder.

There is a simplified wiring diagram on page 8 of the PDF linked a few posts back.
You need to hook the 5v, gnd, A, and B conductors up to the digital side car (DSC). You shouldn't need the index channel. My guess is that the index channel will give you a single pulse per revolution.
Channels A and B should be connected to the DSC Digital I/O ports. They need to go to separate channels, they connect t othe pins labeled "sig" if I remember correctly. Choose two that are available. Note the numbers of the channels, and set your code up to use these two channels to configure the encoder object/VI.

[TenaciousDrones]

So would I use the other encoder type that isn't index encoder in robot builder?

[otherguy]

I'm not familiar with the particular options in robot builder. But if you are wiring up channels A and B to the digital side car, then you're using the encoder as a quadrature encoder. IF there's an option that says quadrature, pick that one.

For info on what quadrature is, check out these links:
http://www.dynapar.com/Technology/En...ture_Encoders/
http://www.eehomepage.com/report.php?report=20080225

Otherwise if you could provide a list of named options, or a screenshot, I could help direct you better.

[TenaciousDrones]

Here are the two encoder types.