Corey Boyle
Jul 9, 2020

J5 Encoder Settings

Hi All


In the process of building a 3d-printed AR3 and wanted to confirm the J5 encoder settings. In the manual on page 158 it says to set the J5 encoder to 512 steps per revolution, however in the teensy sketch J5encMult is set to 2.56. Is this a typo in the code or manual, or is this an expected difference?


Thanks!

Corey

1
chris annin
Jul 10, 2020

hello, 512 is correct, 512 / 2.56 = 200 steps per revolution of the motor. The mult value is just part of the calculation.

1
Corey Boyle
Jul 10, 2020

Thanks for the response! Got it, makes sense. I forgot to take into account the driver settings.


For anyone else (and to remind myself later), below is the equation to get to the J*encMult values:


(4 encoder counts / 1 encoder pulse) * X * (1 / Y) = encoder counts per step

Where X = pulses per revolution as set on the AMT 102 e.g. 512 and Y = steps per revolution as set on the driver DM542T/DM320T e.g. 800


For J5 this would be 4 * 512 * (1/800) = 2.56 all the other motors use 400 steps per revolution so their encMult values are 5.12.