Dcs fault

    looking for some help trouble shooting a DCS fault. just getting ext estop from plc.

    Controller = R30ib

    I have a aux axis for a turn table it looks like a its a joint speed check issue,the current speed seems to be fluctuating when not moving.

    I have tried changing the encoder with no luck.

    Maybe the amp or a cable I'm looking for help narrowing this issue down

    I usually use a joint position check with a .5 degree tolerance as a disabling input for the joint speed check. I've had issues in the past; this way when I am at the commanded position I do not receive nuisance DCS faults like this.

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