Raghav Posted October 3, 2011 Share Posted October 3, 2011 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 Link to comment Share on other sites More sharing options...
steve.milici Posted October 3, 2011 Share Posted October 3, 2011 Can you show me the motion code that is used? Link to comment Share on other sites More sharing options...
Raghav Posted October 4, 2011 Author Share Posted October 4, 2011 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 Link to comment Share on other sites More sharing options...
Omron Forums Support Posted October 10, 2011 Share Posted October 10, 2011 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? Link to comment Share on other sites More sharing options...
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