WC - Extend Chains Initial and Final Gear Positions

[kayaker37]

Here is a link to the post I mentioned before:

Encoder steps.. Issue with returning sprocket to 12 o'clock after precise number of links fed out... again

I just ran into this myself today. Surprised this has been an issue for two years. It was very disturbing when I saw it, I was concerned that our encoder counts could have gotten messed up again. But I was relieved to find this thread. The issue wasn’t really software, but more of a controls issue. The difference between B02 and B09 is that B02 directly called axis.detach() when it was done. This is a no-no. The PID controls should handle detaching the axes directly, and nothing else exce…