Rickard

What type of motion are you going to accomplish with your servos? I would choose the trajexia card instead with mechatrolink controlled servos. Then you have a real motion controller.

First i think you should look at your Encoder and see if it works properly, look at the memmory in A270 & A271 (Double Word) to see if it counts properly. And you should multiply the encoder value 4x times for a full motor rotation. (PPR*4)/gearbox i This is because the system counts both up and down pulse for the A and B channel. Positioning can be achieved in many different ways, an easy way is to just monitor the encoder value and when it´s in range you stop the motor. Or you can use the built in positioning function.

Sorry i gave you the wrong command before, was a few month i programmed in BASIC code. The correct command should be: SPEED_SIGN AXIS(1)=ON Change the axis number to the corresponding axis. And for the print command: PRINT SPEED_SIGN AXIS(1) I should try this in the terminal window with the system started but with servo=off and wdog=off. Dont trust the simulator, certain functions don't work there. Try it on the real Trajexia.

Not sure about your question, but as i understand you want to use an encoder with a cpu that doesnt have support for it? I would have converted the old cqm project to a new CJ2M cpu instead.

Hi I have used the TJ1 system with Flexible axes in 2 applications with inverters, but unfortunately not used the SPEED_SIGN command. Have you configuered the FL-02 ATYPE for servo? To use SPEED_SIGN the ATYPE must be servo(44) You can check this if you type "print ATYPE AXIS(1)" in the terminal. You can also try typing "SPEED_SIGN=1 axis(1)" and then check using the command "print SPEED_SIGN axis(1)"