Info at the bottom (let me know what else you need)
I'm having a lot of issues with an external axis of mine. When asked to move to a certain position programmatically, it will do the movement just fine, but stop and get a position error on ending the motion. The problem occurs no matter how I program the motion and with speeds as low as 20% rated and with with acc = 100). All machine parameters are set to default catalog values except transmission ratio, soft-limits and that the motor is set to endless.
So far I've been recommended changing positioning window ($IN_POS_MA) and $TIME_POS, but none of these are that appealing process wise.
The two remaining recommendations are drift compensation and controller tuning. The most plausible cause (in my opinion) would be the controller parameters, so I looked into that. I found that one of the control parameters (VelGain) differs from the catalog data by a factor of 10.
The control parameters are all in the "CtrlE1.xml" file which is write-protected and clearly states at the top that the file is "Generated" and you should "NOT EDIT".
Well, my guess is that I need to edit it anyway since the data is off.
So, 2 questions.
1) Do you agree, that the problem might be caused by the controller parameter?
2) How would I go about changing these parameters?
Thanks in advance!
Kernel system version: KS V8.5.465
External axis: MG_64_KSP40 (MGS_64_110_35_S0)
Catalog VelGain value:
CtrlE1.xml VelGain value: