Hi All
Does anyone have these drives jogging that can try some moves?
What I would like is if you would try some programmed moves back and forth while monitoring the target position (607A), the actual position (6064), the pos-cmd (60FC), the corresponding joint.X.f-error and show their values after a few (10) moves of whatever distance you can travel back and forth.
My issue is as follows:
I have 4 LC 10 E 1000 amplifier kits with 2500 RPM 17 bit motors, and they are all exhibiting the same following error issue.
I am running the servos in CSP mode at 1kHZ with LinuxCNC.
The issue I have is that the target position (607A) develops an offset and the actual position (6064) does not become equal. There is a random offset, which seems to grow over time. It can be thousands of counts. The motor actual position (6064) remains correct. The motor is counting correctly. I put a dial gauge at the end of travel, and the actual position (6064) is correct. To compensate for this, I put an integral loop in the machine controller. With this integral loop the machine moves correctly. When the controller software disables the drive power, and re-enables, the offset is gone. I have monitored the pos-cmd (60FC) and it follows the motor actual position (6064), until I disable and re-enable the drive. When I disable and re-enable the drive the pos-cmd (60FC) feedback value does not match either of the other 2 (6064) or (607A) however (6064) does now match (607A). The machine will then move to the correct position without requiring any integral compensation for a period, until the offset re-appears.
The offset between the target position (607A) and the actual position (6064) remains even if I jog the axis slightly, or if I manually force the servo out of position slightly. The servo wants to maintain the offset error. I have tried changing all of the gains to see if there is an effect on the error, and there is none.
Encoder Position Deviation P0B.15, always remains _0000. I would expect it to show the following error.
Position Deviation Counter P0B.53, always remains _0000. I would expect it to show the following error.
Input Position Command Count P0B.13 matches pos-cmd (60FC). It matches even when the target position (607A) and the actual position (6064) are different values.
The last fault shows as P0B.33 == 1, P0B.34 == 952 which is reverse over travel, which was from homing.
Actual motor speed P0B.55 does display values that change and seem correct.
The software version is: P01.50 ==> 03.16
