In connection with mappMotion (but also for ACP10) for axes positions which get calculated on the PLC side (PureVAx, DS402Ax, ACP10SDC) instead of the ACOPOS HW it can be the case, that the ACOPOS drive error 7033: “Encoder: Incremental position step too large” gets reported.
To the cause “Encoder speed too high” the information can be added, that having a speed higher than ½ revolution (SCALE_ENCOD_INCR) between two task class cycles will also lead to the error.
Operation with speeds higher than that is not permitted for axes like PureVAx, DS402Ax or e.g. also ACP10SDC since there then the chance of errors in the position calculation exists.
Useful AS help sections
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Motion control → ACP10/ARNC0 → Reference manual → ACP10 → ACOPOS Error Texts → 7033: Encoder: Incremental position step too large
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Motion control → mapp Motion → Programming → Application program → Libraries → Core → McDS402Ax → Technical information → Third-party servo drives → Important information
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Motion control → mapp Motion → Programming → Application program → Libraries → Core → McPureVAx → Technical information → General purpose axis interface → Complete hardware interface → Reading in the current position
Possible Workaround
A possible workaround which got discovered would be the following:
Define a gearbox ratio within e.g. the (DS402) mappMotion servo drive axis configuration below Mechanical elements → Gearbox. E.g. use Input = 1, Output = 100 and due to the factor of 100 also multiply Encoder settings → Increments per revolution by the factor of 100.
When doing so, it can be achieved, that the same movement can be executed, but the wrong position calculation / error 7033 can get avoided due to not having a speed higher than ½ revolution between two task class cycles.