Using closed loop stepper/drives or servos with AR4
I'd like to try using steppers or servos with closed loop drives. I'm wondering if the encoder feedback requirement for the AR4 Teensy code can be commented out and ignored? The object is to see if running smoother motors will achieve smoother movement for when using the robot with a moving image camera? Would this effect the repeatability/accuracy of the system in any way? (give that closed loop steppers and servos are very reliable already, and do not really need monitoring. I've used them in CNC and other motion control applications, never had to worry about losing position when motor size and gears are matched accordingly... Thanks
Hello, yes you can shut off the encoders on the kinematics tab and run open loop. No problem trying different motors as long as they accept step and dir inputs.
Thanks. That's good to hear... You know one day it would be good to have absolute encoders, to retain position during shutdown etc.. :) I wonder if there is a relatively economic option for that?
Hi. Just one issue initially. The encoder disable turns out to be in the config tab,. When I click on the checkboxes they do not update, but changing tabs and returning shows the new settings. Generally positions don't update while jogging, but I guess that's a performance limitation getting feedback from Teensy?
I'm working in closed loop using absolute encoders and pid when done i will send it to Chris annin
Hi Hashim. My reason for asking about absolute encoders was I hoped it might be a way to be able to set home reference more easily. ie. without having to move the rig to a mechanical home. I'm also looking at using the z index on a standard encoder with a software search routine either by the drive itself or external to that... I have found Stepperonline dc powered DSY series servos which can do this in the drive, in combination with physical limit switches. Also looking at AC servos - A6 series, which can come with 17bit absolute encoders for reasonable price.. :)
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