Pid F4

[wwenter]

Per the Oak Manual, it calls to check the encoder counts in PID F4 and to check if the CCW rotation counts to the positive if I have read it right, when I turn my motors CCW it count to the negative (I am looking at the motor mounting face). I am using DYN4 drives that have been update By DMM for the Oak. Is there a way to change the encoder count to read positive when rotated CCW in the Oak or will that change need to be done in the DYN4
Thanks

[cncsnw]

You could swap the A and B channels of the encoder feedback, in your axis interface cables between the servo drives and the Oak.

[tblough]

Only the spindle encoder has provisions to swap directions in software. For all other axis, you need to swap the A and B pairs as at some point in the encoder wiring as suggested by Marc. It doesn't mater where - whatever is easiest either at the motor end or the board end of the cable. Move A+ to B+, A- to B- and vice versa.

[wwenter]

Thanks that worked