I'm back on it with this project, the 7th axis rotary has been working just fine after going through machine.dat, searching for [7], and making sure an appropriate value is there.
Now that the covid panic has shut most of our customers down, it's a good time to get the track operating.
To simplify some things, I just moved the cables to the linear motor and changed the data to linear (ERSYS instead of EASYS, etc, using the axis configurator and the external axis manual).
Firstly, I also have this error that I don't know if it's affecting or not:
29: Drive bus DSE 1 participant no. 9 not configured
Here's the main problem:
When I try to jog, the axis will move maybe 5cm (more of a lurch than a steady move) and stop, brakes engage, errors pop up:
1104 Ackn. regulator limit exceeded E1
1161 Ackn. monitoring of the actual velocity E1
If I lower the $VEL_AXIS_MA to 100.0, it moves much slower, same behavior, but then the error code is:
3030: Ackn. target speed monitoring E1
Here's my data for the linear axis 7 (the only one currently connected), mostly taken straight from the example:
$AXIS_TYPE: 1
MOTORTYPE: NONE <<If I enter the motor here, it autofills KT_MOT and others, then after cold boot, this field is back to "NONE" but the motor data stays.
$KT_MOT: 1315999997
$KTO_MOT: 1.33000004
$RAISE_T_MOT: 5
$RAT_MOT_ENC {N 1,D 3}
$BRK_ENERGY_MAX: 2600
$BRK_COOL_OFF_COEFF: 41.0
$BRK_TORQUE: 13.3
$SERVOFILE: "KSD_32_MC0_A_2"
$CURR_MAX: 32.0
$CURR_LIM: 100
$CURR_MON: 12.0000002
$CURR_CAL: 1.0
$CURR_COMM_EX: 100.0
$DSECHANNEL: 7
$PMCHANNEL: 21
$AXIS_RESO: 4096
$IN_POS_MA: 1.5
$RED_VEL_AXC: 5
$RED_ACC_AXC: 10
$RED_ACC_OV: 100
$VEL_AXIS_MA: 3000.0
$G_VEL_PTP: 75.0
$G_VEL_CP: 80.0
$I-VEL-PTP: 200.0
$LG_PTP: 0.5
$LG_CP: 0.600000024
$G_COE_CUR: 85
$APO_DIS_PTP: 500.0
$SOFTN_END: -500.0
$SOFTP_END: 4500.0
$RAT_MOT_AX: {N -360,D 33}
$AX_ENERGY_MAX: 2500
$MAMES: 0.0
$VEL_AX_JUS: 0.9648
$L_EMT_MAX: 9.60000038
$RAISE_TIME: 900.0
$RED_ACC_EMX: 150
$DECEL_MB: 600.0
$AXIS_DIR: -1
$AXYNC_T1_FAST: 0
$EX_AX_ASYNC: 0
$AXYNS_EX_AX_DECOUPLE: 0
$JERK_MA: 1000.0
$AXIS_JERK: 11.6400003
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I've tried changing values for RAT_MOT_AX and RAT_MOT_ENC, the velocity max, assuming something with speed or reading that speed is going wrong.
Has anyone got any idea what I'm missing?
I'm going to run through the optimization process for $G_VEL_PTP, $G_VEL_CP etc using the ext axis manual. (Section 7.4.2 page 60)
I put the cart ahead of the horse there. I can release the brakes by moving A1-6, but get the velocity error as soon as I try to move E1. The other motor will work just fine with the same hardware, so it's got to be something with parameters.