Selection of encoder to use with NI PCI-6221 for a project of inverted pendulum

Hi, I'm a mechanical engineering student is his last years, for my final project I do an inverse pendulum system, the University already offered me this data acquisition card which is a NI PCI-6221, and I have to get the other components (motor continuous, encoders, cables, servoamplificateurs, etc.).

My concern is to choose the right encoder so I have no problem... I was told that the best way to measure the position of the carriage uses an absolute encoder mounted on the motor shaft and some incremental encoders for measurement of angles of clock, but I don't know if the 6221 can handle this kind of data to an absolute encoder, and if so, what are the main parameters for selection? as the format, the number of bits.

In the case where it doesn't work I have to go with the option of incremental encoders for both measure the position of the carriage and the angle of the pendulum, I believe the 6221 can manage entries in quadrature encoders, there´re a lot of examples of this, but since models of incremental encoders are wide enough there´re some features that I worry about : frequency vs the sampling frequency response and the output type.

I found a catalogue which includes two types of digital incremental encoders said their models have 300 KHz frequency response, being the only differences, the output and food, anyway the 6221 can handle this freq resp? sampling rate of the card being 250 kech. / s, would there be any conflict?

They offer two types of output: TTL/74LS04 and line pilot, and even if I go further with the hohner encoders they have the following outputs/freq RESP: RS-422 (TTL compatible) / 300 KHz, push-pull differential/200 KHz, NPN Open Collector/100 KHz and push - pull without complementarity/200 KHz.

Any help would be well received

PD: I don't know if a similar topic has already been posted, I'm again like this... I searched in other posts, but found nothing,


Tags: NI Hardware

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