Gday Peter
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Why do you switch the encoders off?
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Cos they are cheap and not very accurate.
They are excellent for manual declutching and rubbernecking ( ie freedom find ), but if you want accuracy and stability, you need to turn them off as they can arbitrarily reset your microstep count ( ie real position ), even if it hasnt actually changed.
Also, any damage/grot on them can reset your true position with bad results.
Andrew