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Error in axis counts/movement


Raghav
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I'm trying to jog the axis from +ve limit to -limit. I set the initial value as 0 and give the required counts to move. The axis moves a certain counts lesser than the commanded value. Also I checked for the Hard-limit and motor status, everything seems to be normal. I also tried to enable and disable compensation table and also deleted it and tried, but till the error persist. Kindly let me know if anything else could be done. Thanks
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G101 & G00/G01 code is added below:

 

OPEN PROG 1000 CLEAR

RAPID

P6500=0

RETURN

N1000LINEAR

P6500=1

RETURN

N2000CIRCLE1

P6500=2

RETURN

N3000CIRCLE2

P6500=3

RETURN

N4000READ(P)

If (Q100&32768 > 0)

DWELL(Q116*1000)

EndIf

RETURN

N1700NORMALK-1

P6501=17

RETURN

N1800NORMALJ-1

P6501=18

RETURN

N1900NORMALI-1

P6501=19

RETURN

N90000ABS

P6502=90

RETURN

N91000P6502=91

INCRETURN

N97000READ(S)

If (Q100&262144 > 0)

I422=Q119/30

EndIf

RETURN

N53000PSETX(M162/307200000)Z(M262/61440000)Y(M362/307200000)

P6503=53

RETURN

N54000P40=M362/307200000+P530

P41=M262/61440000+P540

P42=M162/307200000+P550

PSETX(P42)Z(P41)Y(P40)

P6503=54

RETURN

N55000P43=M362/307200000+P560

P44=M262/61440000+P570

P45=M162/307200000+P580

PSETX(P45)Z(P44)Y(P43)

P6503=55

RETURN

N56000P46=M362/307200000+P590

P47=M262/61440000+P600

P48=M162/307200000+P610

PSETX(P48)Z(P47)Y(P46)

P6503=56

RETURN

N57000P49=M362/307200000+P620

P50=M262/61440000+P630

P51=M162/307200000+P640

PSETX(P51)Z(P50)Y(P49)

P6503=57

RETURN

N58000P70=M362/307200000+P650

P71=M262/61440000+P660

P72=M162/307200000+P670

PSETX(P72)Z(P71)Y(P70)

P6503=58

RETURN

N59000P73=M362/307200000+P680

P74=M262/61440000+P690

P75=M162/307200000+P700

PSETX(P75)Z(P74)Y(P73)

P6503=59

RETURN

CLOSE

 

OPEN PROG 1010 CLEAR

N1000READ(X,Y,Z)

P53=Q124

P54=Q126

P55=Q125

PSETX(P53)Z(P54)Y(P55)

P530=M364/307200000

P540=M264/61440000

P550=M164/307200000

P6503=54

COMMAND"save"

RETURN

N2000READ(X,Y,Z)

P56=Q124

P57=Q126

P58=Q125

PSETX(P56)Z(P57)Y(P58)

P560=M364/307200000

P570=M264/61440000

P580=M164/307200000

P6503=55

COMMAND"save"

RETURN

N3000READ(X,Y,Z)

P59=Q124

P60=Q126

P61=Q125

PSETX(P59)Z(P60)Y(P61)

P590=M364/307200000

P600=M264/61440000

P610=M164/307200000

P6503=56

COMMAND"save"

RETURN

N4000READ(X,Y,Z)

P62=Q124

P63=Q126

P64=Q125

PSETX(P62)Z(P63)Y(P64)

P620=M364/307200000

P630=M264/61440000

P640=M164/307200000

P6503=57

COMMAND"save"

RETURN

N5000READ(X,Y,Z)

P65=Q124

P66=Q126

P67=Q125

PSETX(P65)Z(P66)Y(P67)

P650=M364/307200000

P660=M264/61440000

P670=M164/307200000

P6503=58

COMMAND"save"

RETURN

N6000READ(X,Y,Z)

P68=Q124

P69=Q126

P70=Q125

PSETX(P68)Z(P69)Y(P70)

P680=M364/307200000

P690=M264/61440000

P700=M164/307200000

P6503=59

COMMAND"save"

RETURN

CLOSE

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Please check to see whether your tuning is sufficiently tight. For tuning guidelines, please refer to the following post: http://forums.deltatau.com/showthread.php?tid=517

 

If your motors are not properly tuned, you will experience following error, which could possibly cause your motors to fail to reach the destination within a few counts.

 

Are you experiencing a consistent, exact number of counts below what you command? Or does it vary? Does it jitter also?

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