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Encoder issues, counts going the wrong way.


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I have a Geo Brick LV-PC, I'm trying to setup some PI servo motors. The motors drive fine in open loop mode with #xo30, #xo-30 etc but when I drive them with a jog command #xj+, #xj- etc it goes out on following error. When I set it to ignore the error I noticed the counts are going the wrong way, so if I give #xj+ the counts go negative, if I give #1j- the counts go positive. The motor is going in the correct direction when driven.


I've tried swapping encoder wiring A with not A and B with not B but that made no difference, so I then tried A with B and not A with not B, this resulted in the motor not driving at all in closed loop.


Has anyone else experienced this or have any pointers as to where to start looking?



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