sdefisher Posted December 28, 2017 Share Posted December 28, 2017 I am having an issue where the axes are moving the correct amount, the counts are proper, but the velocity is reported significantly (~1.8x) slower at the PowerPMAC vs reality. It's appears systemic to all of my axes. I confirmed it by watching the speed in the drive software, and also with a tachometer. For now I am debugging a rotary axis, since it's safer that the linears. My Setup: Copley Xenus Plus MACRO ACC-5E (Gate2?) Rotary Axis with 11,840,000 counts per rev PPMAC Configuration Encoder Conversion Table Single 32 bit read LSB Bit #: 8 # Bits Used: 24 Result Units Per LSB: 1 index1: 8 index2: 8 Scale factor: 1/256 (0.00390625) Other Parameters Motor[x].CaptPosRightShift=0 Motor[x].CaptPosLeftShift=8 Motor[x].pEnc = EncTable[x].a Motor[x].pEnc2 = EncTable[x].a Xenus Configuration Network Configuration Position Output Scaling: OFF To Recap. The above configuration allows me to position correctly, but the reported velocity is slower by a factor of about 1.8. Any thoughts or suggestions would be greatly appreciated! Link to comment Share on other sites More sharing options...
sdefisher Posted December 29, 2017 Author Share Posted December 29, 2017 Found the issue. Because the ACC-5E card is running a different PWM period, I needed to change the sys.servoperiod accordingly. default: Sys.ServoPeriod=0.44274211 Acc5E[0].PwmPeriod=3684 therefore Sys.ServoPeriod=0.24993896484375 0.44274211/0.24993896484375 = 1.77 Link to comment Share on other sites More sharing options...
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