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Axis lagging in TCP kinematics


chrisvk
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Wondering if anyone else has had this issue before. The x-axis in our 5 axis cnc lags behind by about a millimeter when following the TCP. The motor position shows a 1mm following error which makes me think it knows where its supposed to be but isnt keeping up for some reason. 

We tried adjusting the tuning and proportional gain settings which slightly decreased the error but its still to big for the applications we need. 

 

 

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Are  you are using Ethercat drives with cyclic position…

if so, do you have a position filter set in the drive?

 This will delay the target position in the drive slightly.

 It is good to use a very small value of you have a filter turned on.

 

 

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