The WYBO Controller defaults to using the encoder index.
If your index signal is reliable, we highly recommend using it, as it saves time during startup and improves force reliability.
On heavy rigs, not using the index can sometimes result in bad calibration, leading to a "weak" actuator that may cause a spinout error later.
What is encoder index ?
The encoder index corresponds to a physical position of the encoder that activates the z-signal.
With an index, you can easily remember any position by counting the number of turns from that point.
How does ODrive use index ?
When ODrive performs an offset calibration using the index, it records the number of turns between the offset position and the index position. At startup, you just need to locate the index again to determine the offset position.
If the index is not used, an encoder offset calibration must be done at every startup.
Do I need to use index or not ?
We highly recommend using the index, but...
The issue with the index signal is its susceptibility to electromagnetic interference (EMI). A quick search for "index" on the ODrive forum will reveal numerous problems related to EMI and the index.
To ensure your index signal is accurate, it’s important to use a well-shielded index cable.
If your index signal is unreliable and you cannot calibrate, you can deactivate the index option. WYBO will trigger an encoder calibration at each startup.
However, remember that calibration isn’t always perfect and can occasionally result in weak force in one or other actuator. In that case, simply reboot or recalibrate the faulty actuator.