hello
What settings should I change in firmware after changing encoder?
You need to either get a ready-made DRC file and run the motor config wizard & supply the DRC file in it, or connect to the IONI via Granity software and upload the file there OR set the encoder (feedback device) parameters in Granity and save settings to IONI.
After the latter two options you need to re-run the motor configuration wizard with the now existing correct IONI config in it, so that firmware reads the correct CPR values from IONI.
Yes, that is ok. Encoder counts per revolution shows correct value.
thanks mika 