General Update
Encoder Purchasing
Billing address and shipping address must be the same
Model No: RM44DC0013B10F2E10(Encoder) + RMH06A3A00(Shaft)
Pricing: €66.6(Encoder) + €5(Shaft) + €30(shipping) = €101.6 → 161.88AUD
Ship to Uni then ship to Malaysia
University deposit the payment to Me
Purchase FPGA
FPGA is working reliably
- Encoder presence detection
- CRC checks - No CRC correction
- Negligible Bit Error Rate
- 8MHz Clock Frequency
- 30kHz Sampling Frequency (Can be up to 40kHz)
- Tested up to 18m(RJ45)+~1m(Extra) of transmission length
- UART feedback with baud rate of 115200 (Parity Optional)
- Able to scope the UART signal
- Error counter
- Line Delay Compensation
Measured propagation delay and system delay
~96ns is the system delay (CLK in Data out)
Line Propagation Delay: = 10.416ns/m ~ 12.5ns/m (53~64% of Speed of Light)
Ideal angle delay: 3.08us
Ideal angle error: 1.48degree (Electrical 4PP) @20kRPM
SSI is a No
Max resolution is 512 (BiSS could do 8192)
Similar propagation delay as BiSS (~10ns/m) (Might need line delay compensation)
Max clock speed is 4MHz
No error detection
PCB
Housing for the Motor Jig
Timeline