Optimal layout for connecting encoders?

3 months 1 week ago #29535131 by namlee2
Hi, 
We're currently using two SBL2396 controllers to control four motors. What would be the optimal layout for connecting encoders to the motor? Do we directly couple the encoders to the motors or the output of the reducer itself? And what would be the expected optimal pulse per revolution value for each of the encoders in each situation?

Thanks

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