# Encoder selection \[PickMaster 3\] **URL:** \ **Category:** PickMaster\ **Created:** [August 6, 2012, 12:44pm UTC](https://tech-community.robotics.abb.com/t/encoder-selection-pickmaster-3/5020 "2012-08-06T12:44:35Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![Craig\_Hafner](https://avatars.discourse-cdn.com/v4/letter/c/ea666f/32.png) [@Craig\_Hafner](https://tech-community.robotics.abb.com/u/Craig_Hafner)\ **Post date:** [August 6, 2012, 12:44pm UTC](https://tech-community.robotics.abb.com/t/encoder-selection-pickmaster-3/5020/1 "2012-08-06T12:44:35Z")
I have always used the conveyor tracking application manual (3HAC 16587-1) recommendations for encoder selection of 10,000 counts/meter (after quadrature) and a maximum pulse frequency of 20,000 counts per second. I recently discovered that the Pickmaster product specification (3HAC 5842-7) recommends 20,000-40,000 counts per meter and sets a limit of 50,000 counts per second. I can understand that the counts per meter recommendation could be higher due to flexpicker performance relative to typical ABB robots, but I don’t understand how the DSQC 377 board can now reliably read 50kHz instead of 20kHz. Has there been a hardware change within the conveyor tracking board to allow these higher pulse rates? Which recommendation (conveyor tracking or Pickmaster) should I use for encoder selection? ---
**Author:** ![Mats\_W](https://avatars.discourse-cdn.com/v4/letter/m/df705f/32.png) [@Mats\_W](https://tech-community.robotics.abb.com/u/Mats_W)\ **Post date:** [August 17, 2012, 12:54pm UTC](https://tech-community.robotics.abb.com/t/encoder-selection-pickmaster-3/5020/2 "2012-08-17T12:54:17Z")
Hi Craig Nothing has changed regarding the hardware. It’s right that we recommend 20000 cpm and a limit of 50kHz. Note that the frequency is pending on the speed of the conveyor. With an encoder of 20000 cpm, you may run up to 2500 mm/s before hitting the limit of the encoder.