Dynomotion

Group: DynoMotion Message: 11188 From: Hardy Family Date: 3/9/2015
Subject: Open loop stepper with encoder counts
When initially reffing each axis of our machine, we would like to run in open-loop stepper mode, but also accept encoder input so that we can then automatically detect whether an encoder is actually connected and, if so, perform a sanity check on it.

What is the correct axis config setting for this, and which field will contain the encoder count?  I'm kind of guessing that running it with CL_STEP_DIR_MODE, but with P=I=D=0 and very high error bounds will do the trick, with encoder count in the Position field.

Regards,
SJH
Group: DynoMotion Message: 11191 From: Tom Kerekes Date: 3/10/2015
Subject: Re: Open loop stepper with encoder counts
Hi SJH,

That should work.  The other option would be to use STEP_DIR_MODE (open loop stepper mode) and then change it to CL_STEP_DIR_MODE if you determine an encoder is present.  STEP_DIR_MODE does not check for following errors.

HTH
Regards
TK