AcoposMulti with LagError during operation

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Hi @Salvador_Flores ,
Unfortunately, autotuning has spoiled us…hehe
In too many cases we don’t spend enough time anymore on axis tuning, and we see quite often issue when the machine is in the production.

We have lag error in different cases:

  1. Sizing of the motor not correct

  2. Sizing the drive not correct

  3. there is room for improvement on the axis tuning

  4. the builder saved money on the design of the machine and his expectations are too high

  5. Mechanical issue, this is unfortunately more common than we expect:

    image
    image1535×976 139 KB

    In all of those points servo loop optimizer is great tool, now since mapp Motion 6.5 it’s integrated on mapp Cockpit on the commissioning pages (thanks so much to single axis control R&D).

Your customer asked your help and the only way you can help him is collecting more data (SLO position/SLO speed/trace key ParIDs), review them and provide guidelines.

At the moment (I don’t know in the future) in the Community we don’t do deep investigation so I recommend to call our Support in Atlanta, but before that be sure you have all this information:

  1. SLO mode position
  2. SLO mode speed
  3. Make a note on the actual controller setting
  4. Some 3D models of the machine will help for sure:

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For example if in the motion transmission we have bend or gear you have totally different reaction on the system.
5) s/n of the motor
6) s/n of the drive
7) Few description of the axis: linear/rotary (+resolution: for example 100 Ax units is 1 degree), horizontal/vertical axis, gearbox…
8) axis limit parameters: max vel/acc, t_jolt
9) A trace with trigger enabled when you have axis error with a little bit of history with basic ParIDs:

  • 112: CTRL Position controller: Lag error
  • 113: CTRL Position controller: Set position
  • 114: CTRL Position controller: Set speed
  • 250: CTRL Speed: Set speed
  • 1159: CTRL Speed: Speed error
  • 213: CTRL Current: Set stator current quadrature component
  • 281: CTRL Feed forward: Set stator current

As reference @michael.bertsch made 2 super clear posts:
guide for mapp Cockpit
motion commissioning for beginners

Thanks
Ciao

Valerio