Hello Tom,

I have been using a setup with stepper motor open loop in microstep mode with decent success for a while.

I am attempting to add a shaft encoder and to use CL-Micro mode.

I have had an identical encoder setup to read spindle speed for some time. I get the quadrature ouput signals in the correct places on the digital I/O screen.

But when I invoke the step response, I get a flat position graph. It seems that the encoder is not being read.

The encoder is 500 step/rev quadrature. Motor is normal 200 count/rev with micro stepping. I think this should give me a gain of 5 on the input. The configuration is as follows:
ch4->InputMode=ENCODER_MODE;
ch4->OutputMode=MICROSTEP_MODE;
ch4->Vel=1.5e+006;
ch4->Accel=1e+007;
ch4->Jerk=1e+007;
ch4->P=0;
ch4->I=0;
ch4->D=0;
ch4->FFAccel=0;
ch4->FFVel=0;
ch4->MaxI=2000;
ch4->MaxErr=2000;
ch4->MaxOutput=2000;
ch4->DeadBandGain=1;
ch4->DeadBandRange=0;
ch4->InputChan0=11;
ch4->InputChan1=12;
ch4->OutputChan0=14;
ch4->OutputChan1=15;
ch4->MasterAxis=-1;
ch4->LimitSwitchOptions=0x123;
ch4->LimitSwitchNegBit=75;
ch4->LimitSwitchPosBit=77;
ch4->SoftLimitPos=4000;
ch4->SoftLimitNeg=-1.325e+006;
ch4->InputGain0=5;
ch4->InputGain1=5;
ch4->InputOffset0=0;
ch4->InputOffset1=0;
ch4->OutputGain=1;
ch4->OutputOffset=0;
ch4->SlaveGain=1;
ch4->BacklashMode=BACKLASH_OFF;
ch4->BacklashAmount=0;
ch4->BacklashRate=0;
ch4->invDistPerCycle=0.001;
ch4->Lead=0;
ch4->MaxFollowingError=5000000000;
ch4->StepperAmplitude=239;

ch4->iir[0].B0=1;
ch4->iir[0].B1=0;
ch4->iir[0].B2=0;
ch4->iir[0].A1=0;
ch4->iir[0].A2=0;

ch4->iir[1].B0=1;
ch4->iir[1].B1=0;
ch4->iir[1].B2=0;
ch4->iir[1].A1=0;
ch4->iir[1].A2=0;

ch4->iir[2].B0=1;
ch4->iir[2].B1=0;
ch4->iir[2].B2=0;
ch4->iir[2].A1=0;
ch4->iir[2].A2=0;



Any ideas?

Thanks,
Jake
Happiness Tech LLC