T-Series/Commands/Set Closed-Loop Mode

Set Closed-Loop Mode - Cmd 118

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Instruction Name	Set Closed-Loop Mode
Applies to	A-Series motorized closed-loop devices
Firmware Version	6.xx
Command Number	118
Command Type	Setting
Command Data	Closed-Loop Mode
Reply Data	Closed-Loop Mode
Safe to retry?	Yes
Returns Current Position?	No
Persistence	Non-Volatile
Summary	Sets the closed-loop mode for encoder embedded devices.

This command configures the behaviour of a closed-loop device.

0 - Disabled

Encoder input is ignored. Device behaves identically to other open-loop devices.

1 - Passive

Device sends Slip responses whenever slipping is detected.

No adjustment or correction is made.

2 - Stall Detection

Device sends Slip responses whenever slipping is detected.

If stalling is detected, device will stop after a stall timeout. See Set Stall Timeout (Cmd 120).

No adjustment or correction is made.

3 - Position Correction (Default)

Device sends Slip responses whenever slipping is detected.

Current Position is updated to actual location whenever a slip is detected.

If stalling is detected, device will stop after a stall timeout. See Set Stall Timeout (Cmd 120).

4 - Stall Recovery

Device sends Slip responses whenever slipping is detected.

Current Position is updated to actual location whenever a slip is detected.

If stalling is detected, device will stop and resume after a stall timeout. See Set Stall Timeout (Cmd 120).

5 - Stall and Displace Recovery

Device sends Slip responses whenever slipping is detected.

Current Position is updated to actual location whenever a slip is detected.

If stalling is detected, device will stop and resume after a stall timeout. See Set Stall Timeout (Cmd 120).

When a stationary device is forced out of position, device will restore to original location after a timeout. See Set Stall Timeout (Cmd 120).

6 - Low Tolerance Stall and Displacement Recovery (Experimental mode - potentially unstable)

This mode is identical to Mode 5, but device sensitivity is tuned up to lower stall occurrence and to boost operating thrust.

WARNING: This is an experimental mode and is potentially unstable. Do not use this mode when mounting sensitive equipment to your Zaber product. Use at your own risk. Zaber is not responsible for any damage resulting from this closed-loop mode.

Mode	0	1	2	3 (Default)	4	5
Name	Disabled	Passive	Stall Detection	Position Correction	Stall Recovery	Stall and Displace Recovery
Send responses while slipping*		Cmd 12*	Cmd 12*	Cmd 12*	Cmd 12*	Cmd 12*
Always update Current Position to actual location				Y	Y	Y
Stall: When device is stalling...			Stop**	Stop**	Stop & Resume**	Stop & Resume**
Send response after device has stopped			Cmd 13	Cmd 13
Displaced: When a stationary device is forced out of position...						Restore**
Send responses while being displaced*		Cmd 13*	Cmd 13*	Cmd 13*	Cmd 13*	Cmd 12*
Send response after location is recovered						Cmd 13
*Response period can be adjusted or turned off via Set Slip Tracking Period (Cmd 119)
**Duration before action is taken can be configured via Set Stall Timeout (Cmd 120)

This setting is stored in non-volatile memory and will persist after power-down or reset.