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Joining loops directly - cascading


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I am cascading 2 motors using motor #1 for the outer loop (position), #21 for the inner loop (velocity,current - direct PWM).

If cascading using method "Joining the Loops through Position Following Function" it all works fine. But using method "Joining loops directly" (exactly after Users Manual p. 338) the net desired position of motor #21 is not overtaking its ActiveMasterPos-value at all (see http://forums.deltatau.com/showthread.php?tid=2087&highlight=activemasterpos)


System: UMAC Power PMAC ARM 2 Core (LS1021A) CPU Board ASSY 604112-10



Any idea?

Is there somebody with good results cascading 2 motors joining loops directly?!


Best Regards,


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