Option: Use of distance sensor and motor encoder

Release Note

This option is available starting at CNC Build V2.11.2804.02 and higher.

Distance sensor

Normally the distance is just measured by the distance sensor. The actual position of the Z axis is not included.

Deviation = Set distance - Sensor value

          Δd = d_com - d_act                     (controller_DistCtrl: Z_offset,i = Z_offset,i-1 + Δd)

          d_act = Filter (d’_act)

Distance sensor and motor encoder

As an extension, both the distance sensor and the Z actual value sensor can be used. The inverse coupling of the two encoders (motor, distance) generally causes a reduction in oscillation tendency.

Deviation = Set distance - Sensor value

          Δd = d_com - d_act                  (Z_offset,i = Z_offset,i-1 + dε)

          d_act = filter (d’_act + Z_act - Z_com) = filter (d’_act - ΔΖ)

Example

Example parameters

kenngr.distc.mode_dist_use_both_encoder 1 # Motor and distance encoder active