jerking on zero position

my servo motor starts to hover on zero position, it runs smoothly on the given rpm, but when it comes to halt and wanted to stop on zero position, it starts jerking and sometimes it gives er100 error or it just hovers on zeero position. my motor model is ELM2H-1800LD130E-HD. and drives is EL7-RS2000. my arm is connected radially.

i am controlling drive by using modbus 485, my controller is teensy 4.1 with wavetec RS485 module between drive and controller. the drive is being controlled in PR/velocity mode.. the PR mode is being used for homing and velocity for normal 360 degree rotations. i am facing issue in the end when the arm reaches to zero/home position.

abbasezzi wrote:

i am controlling drive by using modbus 485, my controller is teensy 4.1 with wavetec RS485 module between drive and controller. the drive is being controlled in PR/velocity mode.. the PR mode is being used for homing and velocity for normal 360 degree rotations. i am facing issue in the end when the arm reaches to zero/home position.
 

Update your machine to use LinuxCNC and we might be able to help.