Last days we have been working on supporting SinCos encoders. SinCos encoder is exactly like standard incremental encoder, except it has sinusoidal analog outputs instead of digital quadrature waveforms.
The beauty of this is that the analog waveform can provide infinite position resolution when the phase angle of signals are calculated. The latest prototype firmware of IONI Pro now supports SinCos interpolation which increases the resolution that we would get from digital counting by the factor of 16, 64 or 256 times. I.e. a 1000 pulse (or cycle) per revolution analog encoder with 256X interpolation yields resolution equal to 256 000 quadrature pulses per revolution (PPR) or 1 024 000 counts/per revolution (actual position resolution of motor).
Very high resolution helps especially to make motion smoother, quieter and stiffer. The initial tests show amazing smooth performance of the motor in velocity and position modes. There was no dithering or groaning noise from the motor and at same time the motor position holding stiffness was jaw dropping. It felt like the motor was physically jammed as the eye, hand or ear can’t notice any movement.