MachPro M31 Absolute Encoder
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Initial doc: 2026-05-08-T15-55
testing and revision:
release to public:
Both servos and steppers can be supported as long as they have:
- encoders
- a way to retain the encoder count when the system is powered down
- EtherCat communication with the M31
First configure
- Control output as a specific EtherCat Drive/device
- The Feedback source as ECAT Feedback
- The homing method
- Check the box next to ECAT Absolute Encoder at the bottom of the homing column
- Click OK to save your changes and close the M31 Config Plugin
- Go to the service tab and home the axis using the motor you just configured. The homing process will enter the correct count into the Absolute Enc Offset (Counts) field on the M31 Config tab.
If you have had hardware changes or repairs, you may need to re-calibrate your Absolute Enc Offset.
- Go to the service tab and click on the CMDS button
- Filter for Deref, select your axis and click OK. That will clear the Absolute Enc Offset value
- Now rehome that axis from the service tab
Alternately
- Open the M31 Plugin Config
- Click the motor that has been modified and click the Reset Offset button. That should clear the Absolute Enc Offset field
- From the Service tab, rehome that axis
- The Absolute Enc Offset value will be filled with the current value of the encoder on that axis.
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