Using kmotion432 with closed loop microstepping:
As per the FAQ I have reversed the direction of the axis by changing the sign of the outputgain and the sign of the inputgain0. This creates a problem. Maybe it could be described as a huge position error. It still runs.
Step response plots of the axis before and after its was reversed are attached. The reversed is the one with negative gains.
The motion parameters of the settings that cause the error:
ch0->InputMode=ENCODER_MODE;
ch0->OutputMode=CL_MICROSTEP_MODE;
ch0->Vel=300;
ch0->Accel=1000;
ch0->Jerk=80000;
ch0->P=0;
ch0->I=0.0017;
ch0->D=0;
ch0->FFAccel=0;
ch0->FFVel=0.0005;
ch0->MaxI=10000;
ch0->MaxErr=1e+009;
ch0->MaxOutput=10000;
ch0->DeadBandGain=1;
ch0->DeadBandRange=0;
ch0->InputChan0=12;
ch0->InputChan1=0;
ch0->OutputChan0=8;
ch0->OutputChan1=9;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0x100;
ch0->LimitSwitchNegBit=0;
ch0->LimitSwitchPosBit=0;
ch0->SoftLimitPos=1e+006;
ch0->SoftLimitNeg=-1e+006;
ch0->InputGain0=-0.025;
ch0->InputGain1=1;
ch0->InputOffset0=0;
ch0->InputOffset1=0;
ch0->OutputGain=-1;
ch0->OutputOffset=0;
ch0->SlaveGain=1;
ch0->BacklashMode=BACKLASH_OFF;
ch0->BacklashAmount=0;
ch0->BacklashRate=0;
ch0->invDistPerCycle=1;
ch0->Lead=0;
ch0->MaxFollowingError=1000;
ch0->StepperAmplitude=204;
ch0->iir[0].B0=1;
ch0->iir[0].B1=0;
ch0->iir[0].B2=0;
ch0->iir[0].A1=0;
ch0->iir[0].A2=0;
ch0->iir[1].B0=1;
ch0->iir[1].B1=0;
ch0->iir[1].B2=0;
ch0->iir[1].A1=0;
ch0->iir[1].A2=0;
ch0->iir[2].B0=1;
ch0->iir[2].B1=0;
ch0->iir[2].B2=0;
ch0->iir[2].A1=0;
ch0->iir[2].A2=0;
