G I D 4 0 5 0
Model Name: Rockhopper-46/62
G I D 4 0 5 0
Model Name: Rockhopper-46/62
Encoder Disconnected Check Sequence
Encoder Disconnected Check Sequence
Compete check for
disconnected encoder
Check each axis
in each direction
for disconnection
[Initializes PWM gate array]
[Checks X-axis + direction]
< Origin sensor ? >
[PWM output on]
[PWM torque output]
< Move 5 pulses ? >
[END]
ON
OFF
[Check Y-axis + direction]
[Check X-axis - direction]
[Check Y-axis - direction]
[Checks Y-axis - direction]
[Checks X-axis - direction]
[Checks Y-axis + direction]
< 20 msec elapsed ? >
< 20 msec elapsed ? >
[Encoder error]
[End]
No
No
No
No
Yes
Yes
Yes
[Increases PWM torque]
< Moves 5 pulses ? >
Yes
