[Mike Copioli]

Originally Posted by mikets

Thanks for the info. I will try that tonight. One question though, if I run the Jags in Voltage mode (kPercentVbus), it means it doesn't need encoder (as versus Speed mode or Position mode). Can I skip the encoder related initializations just to make it even simpler? For example, SetSpeedReference, SetPositionReference, SetPID and ConfigEncoderCodesPerRev?

Correct, those function calls are only necessary if you want to use the closed loop modes or request encoder/potentiometer position.