To make the full range of encode readout match harp motion range,
(16 bit covers 3 inches) an additional procedure of encoder offset
adjustment should be done before fiducialization.
Connect encoder with encoder interface black box by flat cable.
Move the harp manually to upper position limit switch (full retracted),
Loose the screw of coupler at motor side, then manually rotate shaft
until the display is less than 0600 (decimal data = 1280). Then tight
the screw and record the readout data.
Move the harp manually to down limit switch position. The readout should
be less than E900 (decimal = 59648).
Conversion coefficients from binary readout (Hexadecimal) to decimal data:
Hexadecimal encoder display Decimal data
X1 X2 X3 X4 4096 X1 + 256 X2 + 16 X3 + X4
The resultant value of Xi in the binary data of the latches are: 0[0], 1[1],
2[2], 3[3], 4[4], 5[5], 6[6], 7[7], 8[8], 9[9], A[10], B[11], C[12], D[13], E[14],
F[15].
