@o_lampe said in Closed loop firmware for CNC:
AFAIK, the current closed loop strategy in RRF is to add the missed steps to the axis involved.
I don't think that is correct. RRF sends a profile of the move via CAN, not step pulses. In closed loop mode, the 1HCL moves to the position at the speed dictated by the move profile. It doesn't really use steps; it uses the feedback from the encoder to position the motor. If the motor isn't keeping position, it increases current (up to a defined limit) until the motor has enough torque to achieve position. If it still can't keep position, it raises a driver error.
Ian