4.2.11. Feedback encoder mediated

The “Feedback Encoder mediated” mode is intended for systems with large backlash, allowing the desired coordinate to be reached after several iterations (on average from 3 to 10).
This mode is used for stepper motors.

In this mode, all motor parameters, including position and speed, are set and displayed based on encoder data. However, the controller performs the movement using the motor’s steps.

Principle of operation:

• The target coordinate received from the external interface is converted into the number of steps.
• The controller performs the first iteration of movement for the calculated number of steps.
• Upon completion of the movement, the controller checks the actual position using encoder data.
• If the actual position differs from the target, the deviation is recalculated, and the process repeats until the required accuracy is reached.

This algorithm is available in firmware version 4.5.2 and newer. XILab version 1.17.2 or newer. Libximc library version 2.12.1 or newer.

To activate it, in XILab: set the “Feedback” parameter to “Encoder mediated” in the settings: Device -> Stepper motor page.
To activate it in Libximc library: use set_feedback_settings and flag FEEDBACK_ENCODER_MEDIATED.