A question ?????
There is something i don't understand about boards and servos. Why all speak of the encoders to go in the BOB? Dont they go to the servo drive and the servo drive controls the closed loop? I read at Galil and KFLOP that the BOB closes the loop? Or am i mistaken?
I would always expect encoder feedback to go directly to the driver, you don't way any delay introduced, it should go directly to the summing junction that should also exist in the driver.
If feedback does go via the bob on any system, I would steer clear of it.