SysId and MA3 Encoder

We are trying to understand how to use SysId to characterize a rotating arm. In our implementation, we’ve used the US Digital MA3 absolute encoder. So, we have 2 questions:

  1. How to tell SysId that we’re using the MA3.
  2. How to tell SysId what the offset of the encoder is. Or is that even necessary; does SysId figure that out for itself when characterizing the mechanism?

Michael Goldsmith
Lake Monsters 2635