SMC_DI_POSITIONLAGERROR with SoftMotion and BBB with RT

Motion
pin-f
2020-06-25
2020-06-26
  • pin-f

    pin-f - 2020-06-25

    Hi,

    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 3.5.15.20

    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?

     
  • pin-f

    pin-f - 2020-06-25

    Addition:
    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

     
  • eschwellinger

    eschwellinger - 2020-06-26

    Hi,
    could you add the project to check?
    Guess the IPOTask should the one with the 4ms and highest prio and not the SoftMotion_PanningTask?!

    BR
    Edwin

     

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