Experimental Physics and
Industrial Control System

Hi,

 

Usually it’s best to try to keep MRES and ERES the same sign, which is overall less confusing. However, if you can’t do that, setting ERES negative is the correct solution, assuming you can’t reinstall the encoder so it’s the correct direction. Or, the motor direction could be changed so that it matches the encoder (which may also mean re-wiring the limits).

 

However, if you can’t fix the hardware, you have the encoder stall issue because the driver expect the encoder to be moving in the same direction as the motor. This check can be disabled either by disabling the encoder in the motor record (setting UEIP=No), or by setting the encoder tolerance to be a very high number. The encoder tolternace is a feature of the Galil driver, these two records:

 

$(P)$(M)_ENC_TOLERANCE_SP

$(P)$(M)_ENC_TOLERANCE

 

If you set the tolerance to a large value (say 1,000,000) it will effectively disable the direction check.

 

Cheers,

Matt