Joint 0 error, Maximum velocity in PPMC on Sodick

I am having problem configuring the PPMC.iNI in EMC2, My machine is a Sodick VMC, X,Y,Z motor are 1.5 KW with Servo Drive made by Delta AB series, 2500 pulse, 2000 RPM/ rev, 220 colts 3 phase.

Question # 1-
When I Launch the EMC, at bottom of right hand menu in EMN screen there is max speed, Jog rate and a Max Velocity. It shows me 72inch/minute. Where this 72 inch calculating. See the attached screen shot.

Question # 2 -
I can run the following program up to line #28 it goes to velocity 46/minute. As soon it highlights line # 28 it give me ' JOINT 0 errors following,' and stop the EMC.
It is running smooth till line # 27 with same feed rate. What is happening when EMC read line # 28? If I lower the velocity by dragging the velocity control button to 60% then same program runs ok. . Why I am getting joint error?

Question # 3-
Why my velocity is limited to 46/minute? I want to set at 250 inch/ minute to cut graphite.

Question #4
I having five Sodick machines to setup and want to do ASAP, I am willing to pay to someone who can do this for me. Is there anyone doing this on chargeable basis?
Below are my PPMC.INI and my program file, Please help.

Thanks in advance
Surjit

Please see my PPMC.INI file for first axis, # First axis
[AXIS_0], TYPE = LINEAR, HOME = 0.000, MAX_VELOCITY = 1.2, MAX_ACCELERATION = 1.2, PID_MAX_VEL = 1.2, BACKLASH = 0.000,
INPUT_SCALE = 20000, OUTPUT_SCALE = 1., MIN_LIMIT = -100.0, MAX_LIMIT = 1000.0, HOME_OFFSET = 0.0, HOME_SEARCH_VEL = 0.0,
HOME_LATCH_VEL = 0.0 , HOME_USE_INDEX = NO , HOME_IGNORE_LIMITS = YES , OUTPUT_OFFSET= 0 , MAX_OFFSET= 0., BIAS = 0.0,
DEADBAND = .001, FERROR = 1.0, MIN_FERROR = .2, P = 20., I = 2. ,D = .01, FF0 = 0.0, FF1 = .1 ,FF2 = .2,

Here is my program to test the X axis
N1 G20
N2 G1 X0 f10. G91
N3 x.5 F20.
N5 x-.5
N6 x.5 F40.
N7 x-.5
N8 x.5 F43.
N10 X-.5
N11 x.5 F44.
N12 x-.5
N13 x.5 F44.
N14 x-.5
N15 x1.
N16 x-1.
N17 x1.5 F45.
N18 x-1.5
N19 x2.5
N20 X-2.5
N21 x3.5 F46.
N22 x-3.5
N23 x4.5
N24 x-4.5
N25 x5.5
N26 X-5.5
N27 x6.5
N28 x-6.5
N29 x7.5
N30 x-7.5
N31 x8.5
N31 x-8.5
N32 x9.5
N33 x-9.5
N34 x.5
N35 x-.5
N36 M30

To change your max speed edit the

MAX_VELOCITY = 1.2

section of your ini file. Your current seting of 1.2 inch per second is 72 inch per minute (1.2 x60)

It is running smooth till line # 27 with same feed rate. What is happening when EMC read line # 28? If I lower the velocity by dragging the velocity control button to 60% then same program runs ok. . Why I am getting joint error?

The joint error is normally caused by an error between the commanded position and the actually position, try reducing your acceleration and or adjusting the FERROR.
Of course these will only work if your machine is capable of the higher speeds you want to use.

Rick G

Take a look at chapter 4

www.linuxcnc.org/docs/EMC2_Integrator_Manual.pdf

Rick G