Operating behavior

The operating behavior can be influenced by the following parameter:

stStepper.xxx.stConfig.eEncoderFeedbackConfiguration

No feedback (0)

In open loop, there is no output from the encoder to the motor.

Example positioning mode: The (assumed) diPosition is set to the offset. The diActualEncoderValue parameter always remains at 0.

Open loop (1)

Open-Loop (1): In open loop, the encoder outputs to the motor via stStepper.stBasic.stOut.uiEncoderValue.

IMPORTANT! Encoder value and actual position are not coordinated.

Example positioning mode: The (assumed) diPosition is set to the offset. The raw value of the encoder is issued in diActualEncoderValue.

Pseudo-closed loop (5)

In pseudo-closed loop, the motor is sent to a position. At the end of the movement, the position is checked using the encoder and, if necessary, corrected. If positioning is not successful, an error is issued.

IMPORTANT! The actual position corresponds to the encoder value normalized to position.

Example positioning mode: The (normalized encoder position) diPosition and (normalized encoder position) diUsedActualPositionForControl are set to the offset. The raw value of the encoder is issued in diActualEncoderValue.

Closed loop (3)

The actual position corresponds to the encoder value normalized to position.