Abstract: An interpolated position of an incremental encoder is provided. A first signal and a second signal having a quadrature relationship are received from the incremental encoder. A coarse position of the incremental encoder at a first time is produced using the quadrature relationship between the first signal and the second signal. An arcsine or arccosine value based on the first signal at the first time is determined using a lookup table and a fine position of the incremental encoder is calculated using the determined value. The interpolated position of the incremental encoder, based on both the coarse position and the fine position, is then provided.

Abstract: A controller for use with a position encoder includes one or more motion inputs suitable to couple to motion outputs of the position encoder and a limit input suitable to couple to a limit output of the position encoder. The controller also includes an actuator interface, a command interface, and circuitry coupled to the one or more motion inputs, the limit input, the actuator interface, and the command interface. The circuitry is configured to receive a command through the command interface to move a structural member coupled to the position encoder to a new position and control an actuator through the actuator interface to move the structural member toward the new position. A limit indication is received from the position encoder through the limit input and the controller stops or reverses the movement of the structural member by controlling the actuator in response to receiving the limit indication.