Encoders are working?

Hi all,

I'm using the RoboteQ SDC2130 Motor Controller with Brushed Maxon Motors with Hall Effect Sensor.
Depending on the operation I'm switching from Open-Loop to Speed Closed-Loop to Position Count Closed-Loop and everythings works fine.

What I need to have is a robust way to check that the Sensor is connected propertly: The motor is working in a robot that works under heavy dynamic conditions, supporting vibrations. I would like to check continuously that the sensor is connected properly to the board and if this connection is lost automatically switch to the Open-Loop mode.

Is that possible using your firmware? I know that we can develop our own electronics to check the sensor but I would like to know whether there's an internal command or set of commands that could provide me with such functionality.

Thanks in advance,

Carles.

Thanks for your quick answer, but I have one more doubt:

You say that if the Motor is moving and the encoder is disconnected, the controller goes to stall condition.
But: how do you know that the Motor is moving or not? you may be applying power but the motor is not moving.

Thanks again,

Carles.