Hello,
KR500-2-MT / KRC2 ed 2005 / KSS 5.6
+ linear track (E1)
+ turntable (E2)
I'm trying to check the accuracy of RAT_MOT_AX for my turn table (infinite axis).
I have a probe on the table and a probe on the robot. The two probes are almost touching each other.
I've programmed 500 fullturns (robot is not moving) so I can measure a corrective angle to update RAT_MOT_AX.
However, after about 400 turns, I've lost the value of $AXIS_INC[8] (E2).
I think this is because the value has exceeded 2^31 (max value of an INT32).
Indeed :
RAT_MOT_AX N/D = 323,55556
RAT_MOT_ENC N/D = 0,25
AXIS_RESO = 4096
So for 1 motor fullturn I do : 16384 INC <=> 1,112637347°
So for 1° I do 14725,37304 INC
Thus, for 2^31 increments, I do 2^31/14725,37304 = 145835,6024° = 405,1 fullturn.
Can you confirm I'am right ?
How should I read the $AXIS_INC[8] value after 405 fullturns ?
Why the controller can still correctly turn the table for more than 405 fullturns ?
