Closed loop with an external encoder

Closed loop with an external encoder

To make this work, both axes must be CSV servo type.  The Delta ASDA-A2 can be set  to CSV with DRIVE_MODE AXIS(0) = 2.  DRIVE_PROFILE can be 0 or 1.

The encoder is the tricky part.  You must also make that a servo axis, so I suggest you create an EC_EXTEND for the encoder that uses CSV servo instead of ENCODER as the mode.


The above is not exact.  It will depend on your encoder.

Both axes will need to have FEC codes to enable them to run.  Then use ADD_DAC and ADDAX.
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