-1067313140 Lag Error of 5.002001 exceeds the configured 'Position error'

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1

Dear B&R Support Team,
I have a NanoTech drives, When moving the motor using ‘Absolute Move’ or ‘Jog Pos/Neg’, the motor only moves briefly before an error occurs.

This is my SM1444-1 Motor Controller Card, We configured the current to 1.8 A according to the NanoTech motor Configuration. We are using McAxis Library and McAxisBasic FB

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We configured the motor as such :

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We checked precisly the motor hardware connection, The voltage inserted is 4.8 V which is suitable to our Nanotec motor according to the specification sheet, We can power the motor and can also Home it, If we disabled the Encoder. To motor rotates fine, but the issue arrises when we enable one Encoder, if we set a position and a velocity from MpAxisBasicParType

If I command something like MoveAbsolute, or JogPositive, after enabling one Encoder, the motor will move a little bit till it reaches Position of 5.002001 and then Error will be True then i will need to Reset the Error

Till now i couldn’t find the reason of the error and i couldn’t diagnose it. I searched in this Community and in Automation Help but the information are very limited, I will be glad to get support and guidance from your side of from any memeber who encountered this before and know the solution

I have attached the relevant log data and screenshots to this Post. The first Log is for when i try to Jog positive the motor the second is for MoveAbsolute Command, basically both trigger the same Error then the Axis FB will be switched off

JogPosLog.logpkg (19.5 KB)

MoveAbsLog.logpkg (26.5 KB)

Just inform me if you need further details.

Thank you in advance for your assistance.

2

Hello,

your collegue Sarjan Karki, did send us the same topic via local support request.
I send him an answer previous to this one, with a list of checks you can do.

Here some notes for the Community…

In the case of a LagError, it is typicaly usefull to use the MappCockpit and make a Trace from

  • *DDP:%ComponentName%:PCtrlSetPos
  • *DDP:%ComponentName%:PCtrlActPos
  • *DDP:%ComponentName%:LagError
  • *DDP:%ComponentName%:ActPos
  • *DDP:%ComponentName%:SGenSetPos

I had previously a situation were i observed that Nanotec could interpret AB-Line of Encoder in a different way like B&R which resulted in different directions of Motor and Encoder. Positive Motormovement resulted in negative Encoder Movement.
Both Movements should go in same direction.

For steppers you can adapt internal Rotation Directions Motor to Encoder via this option.

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Greetings
Michael Bertsch

3

Hi @khaled , what is status of your issue, can you update us and Help Us Keep the Community Organized?

4

Hi,

Thank you for the asisstance given, We have solved the issue and updated the Motor settings it’s now working fine, It appeared that we need tp change the Motor’s Rotation direction to “Inverse” because of the reason @michael.bertsch mentioned. Additionally the local support was pretty usefull, it assisted us into troubloshooting the motor’s issues.