Delta ASD-B3, CiA402 and joint following error

just check your servo drive, set p2.035 to default value.

maybe you can try increasing the value of FERROR/MIN_FERROR in configuration file (***.ini).
but it doesn't fundamentally solve the problem of "joint following error".
i guess it may be related to "synchronous period" or "servo drive position gain".

use halscope to plot following error, commanded and feedback position resp. velocity of the joint in question. make small movements. That should immediately provide clues if some scale is off (different slopes of commanded vs. feedback velocity).

Hi,
could you finally solve the following error problem with your delta Servos?

I am really interested to learn more about the problem and the final solution.

best wishes,
Gogonfa