Group: DynoMotion	Message: 4696	From: dizoita	Date: 4/29/2012
Subject: Kstep encoder feedback?

Hi,

Is there a example code some were to try having encoder feedback with kstep?

I cut natural stone material that has varying hardness and would be nice to have this feature in case the motors skip steps in a hard spot and some spots are very hard.

It can have a error range preset so if the motor skips more than the set amount it stops, more like a watchdog and not like a active servo feedback loop.

thanks

Dennis

Group: DynoMotion	Message: 4697	From: Tom Kerekes	Date: 4/29/2012
Subject: Re: Kstep encoder feedback?

Hi Dennis,

Not really, but the process should be fairly simple. First adjust the InputGain0 so your Encoder Resolution becomes the same as your MicroStep Resolution. Make Step Response Moves to verify that the commanded and measured positions match (with small errors). Then switch the Output Mode from "Step Dir" to "CL Step". Set the PID gains to all zero so no corrections will be made. Set the Max Following Error to the value you would like to cause a Disable and Stop.

Regards