1.5.1.1.3.1 Accuracy and repeatability of the encoder rings
Circulo 7
Inner ring
Circulo 7
Outer ring
Circulo 9
Inner ring
Circulo 9
Outer ring
Accuracy
90”
0.025°
72”
0.02°
72”
0.02°
72”
0.02°
Repeatability 36”
0.01°
54”
0.015°
36”
0.01°
36”
0.01°
Note
These preliminary values are the achievable accuracy and repeatability after encoder calibration.
1.5.1.1.3.1.1 Functions
Encoder 1 (inner)
Mounted
on
Configuration 1: joint
Configuration 2: motor
Functions Configuration 1: position
Configuration 2:
position/velocity/commutation
Encoder 2 (outer)
Mounted
on
Configuration 1: motor
Configuration 2: -
Functions Configuration 1: velocity/commutation
Configuration 2: -
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