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Appendix

Appendix

Encoder Cost Savings

Microprocessor

The controller design already includes a microprocessor to close the drive servo loop. Incremental cost is therefore limited to a simple 16-bit up down hardware counter interface buffer for the interpolator and 9 bits of a 16 bit port for the absolute encoder.

Incremental encoders

Teledyne-Gurley Model 8626, 2 required @ $1400       $2800
Complete Duplicate Spares                            $2800

Absolute encoders

BEI Model M25, 2 required @ $1000                    $2000
Complete Duplicate Spares                            $2000

TV Imager

Completely integrated frame-grabber systems are now available which are designed as direct bus plug-in single card modules to which a standard RS-170 TV camera can be connected. CCD cameras (color if you like) are now competitively priced around $1000.

Datacube VG-120 Multibus video interface             $3000
Spare                                                $3000

Panasonic B/W CCD camera, 2 req'd @ $1000            $2000
One spare camera                                     $1000

The total cost for basic encoding hardware, including sparing, is $18,600.

The cost of a 24-bit absolute encoder for each axis and only ONE spare is around $150,000!