Controlling stepper motor with atteched encoder

[aratti]

Hi John, yes PBP manual is of great help.
As far as QUI is concerned, this technique increases by a factor of four the resolution of your encoder, so an encoder with 500 pulses per turn will result in a 2000 pulses per turn. This at a first glance could seems great but using a stepper could create some problem. Let me give you a numeric example.

You have a stepper with a resolution of 200 steps per turn, using half step driving you will obtain 400 steps per turn. An encoder of 100 pulses per turn will be your choise, using quadrature, otherwise compensating for lost steps could be a serious problem since the step movement of your motor is a fraction of the encoder quadrature count. (In case of an encoder of 500 pulses per turn your motor step will generate 5 encoder counts per motor step)
Just bear in mind this complication in choosing the encoder if you will use the quadrature.

PS. Is your stepper motor 200 steps per turn or higher?

Cheers

Al.