In my opinion is a rotary but it's configured as linear

- Knowing the difference between the 2 types is quite a fundamental importance as the resolution mantissa is either related to deg/bit or mm/bit.

- I'm pretty sure degrees and millimetres are totally different units of measurement last time I looked.

- Is the intended motor mechanically coupled to a rotary table, or a linear slide mechanism or is it stand alone with no coupling/gearbox?

Regarding calculation, it's relatively straight forward, just involves a little number crunching.

Determining resolution equates to distance per encoder bit.

Encoder 1 rev = 8192 bits.

**So an example below to determine resolution of a rotary table which is coupled to the drive motor via a 70:1 gearbox as a rotary setup:**Rotary Table Diameter: 300mm

Rotary Table Circumference: 942.48mm (Therefore this circumference distance will equate to 360 degrees of motion)

Gear Box Ratio: 70:1

Encoder bit/rev: 8192

Encoder bit/rev * Gearbox ratio: 8192*70 = 573440 Encoder bits required to supply 70 turns into the gearbox = 1 rotation of the output gearbox = 1 rotation of the rotary table = 360 degrees of motion.

Resolution Mantissa calculation:

Total distance to travel: 360 degrees

Total Encoder bits required: 573440

Calculation for deg/bit 360/573440: 0.000627790178

Resolution Mantissa: 6.27790178

Resolution Exponent: 4

**So an example below to determine resolution of a rotary table which is coupled to the drive motor via a 70:1 gearbox as a linear setup:**Rotary Table Diameter: 300mm

Rotary Table Circumference: 942.48mm

Gear Box Ratio: 70:1

Encoder bit/rev: 8192

Encoder bit/rev * Gearbox ratio: 8192*70 = 573440 Encoder bits required to supply 70 turns into the gearbox = 1 rotation of the output gearbox = 1 rotation of the rotary table = 942.48mm of distance

Resolution Mantissa calculation:

Total distance to travel: 942.48mm

Total Encoder bits required: 573440

Calculation for mm/bit 942.48mm/573440: 0.0016435546875

Resolution Mantissa: 1.64355468

Resolution Exponent: 3

Once this has been done, the axis should be zero'd and then confirmed, if incorrect then see if there is error in values used/measured.

Simple tuning can be done afterwards, however if you just have a motor with no load/mechanical coupled with peripheral, simple tuning may not produce smooth results due to no load on the motor.

Therefore, it is recommended to set the external axis/simple tuning when mechanically coupled to external peripherals.

To find a reasonable KV value:

- Find the 1st lowest value that creates juddering, cogging of external axis.

- Find the 1st highest value that creates oscillation, vibration, and audible noise.

- Good KV Value lies between these 2 values (I always shoot for the middle value) which should create stable, no juddering, no oscillation, noise when deadmans is enabled (not jogging).

- Multiply that value by 0.32 and enter that in the KV Field.

Hope this helps.................