New set of problems

Hi acourtjester and tommylight, I want to quickly chime in here and provide some background information (I’m an Applications Engineer with Teknic). All ClearPath products are 3-phase BLDC servo motors with closed-loop control via an integrated servo drive and encoder. Teknic does not manufacture or sell any stepper motors, but I understand the misconception from looking only at the torque-speed curves. ClearPath-SDSK servos were designed to be a cost-effective upgrade from stepper systems, and as such were also designed to have torque-speed curves that look like a stepper. You can see this illustrated if you compare the torque-speed curve of this SDSK “stepper killer” servo with its SDHP “high power” variant:
teknic.com/model-info/CPM-SDSK-2321S-ELN
teknic.com/model-info/CPM-SDHP-2321S-ELN/

The SDSK has roughly the same peak power as its continuous power (173 W), while the SDHP has a significantly higher peak power (332 W). However, these two servos have the exact same motor and same drive technology (closed-loop, vector torque control). The SDSK is a price-reduced option for applications that don’t require the all the peak power of the SDHP.

As for the actual issue, I’d be happy to help troubleshoot. When the servo has oscillations like in acourtjester’s video, it’s usually caused by one of two things: 1. The servo is being commanded to move like that, and it’s simply following its command, or 2. The servo is not properly tuned, causing it to have difficulty smoothly following its command. You can use the software oscilloscope in the MSP application to examine the commanded velocity and determine which is the case. Then we’ll know where to look next.

Best regards,
Matt C. -Teknic Servo Systems Engineer

I know this is a bit old, but to me your voltage looks very low. So when the THC kicks in it could be diving to try and get this voltage.

Just a thought.