Explain AXIS_STATE_CLOSED_LOOP_CONTROL


#1

Hello. There. Can, please, anyone explain to me what the AXIS_STATE_CLOSED_LOOP_CONTROL does? What it is used for?and when should it be used? I run all the calibration process, encoder and motor, without errors. As soon as I execute the AXIS_STATE_CLOSED_LOOP_CONTROL suddenly the motor starts spinning and I don’t understand what is causing the motor to do that after a fresh calibration. Thanks


#2

AXIS_STATE_CLOSED_LOOP_CONTROL is the main operational mode of the drive. You should use it when running normally.

The reason your motor spins out is because your encoder offset is incorrect. Possible reasons:

  • You set pre_calibrated to true when you shouldn’t
  • Your mechanical linkage has changed since calibration
  • Your encoder offset calibration had issues