help for closed-loop

[zflandwjj]

Hi,all
i am trying to configure a cnc system for a stepper-based 3 axes mill machine using emc2. I know that the sample configure about stepper is an open-loop one. And I intend to modify it to a closed- loop one with position and velocity feedback. So what should I add to the sample configure ? Just adding 3 encoders is ok ? How to add(How to modify the .hal files)?
If you have an idea ,please let me know ,thank u !

Yours
zflandwjj

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