in a motion program 3 axes should run in softmotion/CSP-Mode and 3 axes in SoftMotion_Light. I want to move a gantry (X-Y-Z) and some slower single axes.
It's a BBB and IDE/Runtime 22.214.171.124
I configured the Nanotecs C-5-E-02-09. From CANopen manager up to interpolation time period value(C-5-E 60C2h) everything is configured to 4ms. But after 1 sometimes 2 successfull reached positions the y-axis got a SMC_DI_POSITIONLAGERROR.
The Jitter of the Interpolator Task you can see at SoftMotion_Planning Task.
What's wrong here? Bus load seems ok with <70%.
How about PDO timings? Maybe Softmotion light crashes Softmotion in a way of "babbling idiot" does?!
How many Axes do you recommend?
Even, when the movment is very slow and only the 3 CSP axes are activated, the y-axes runs into SMC_DI_POSITIONLAGERROR.
While moving that slow ( ~15 mm/s) the acceleration is sometimes very high...any guess what's going on here!?
btw: the feed is configured with 1/10th mm
could you add the project to check?
Guess the IPOTask should the one with the 4ms and highest prio and not the SoftMotion_PanningTask?!
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