V19.11 and Motion.

Hi All,

I've recently upgraded a system from a L62 series processor using v16.20 to a L74 processor using V19.11.
The processor has two sercos modules controlling 24 servo axis.
I'm currently experiencing random E19 follow faults, on the same number of servo axis, 4 in total.
I've ran trends on the Postion error vs actual velocity attributes, and generally the error is +/-2.5 mm at around 1500mm/s.
To prevent line stoppages I've increased the running position error tolerance, but this seems excessive. (6mm to 10mm)
I've tried a re-tune on one axis but this has not helped.
Are there any known issues with V19.11 and motion?
Or is the improved performance highlighting previous issues?

Just curious. Did you update the drives themselves? The PLC doesn't really do any of the closed loop control. The PLC simply generates positions and downloads them to the drives are regular intervals.

Hi Peter,

I flashed the sercos cards to 19.6 which was only firmware available. On the front of dialogue box is 19.1 but module info tab is 19.6
There are two sercos module cards 1756-M16SE.
The axis which had been showing E19 errors are on the same sercos card.
They are the same module type 2094 BMP5 with rev 1.96. All appears to be in a matched state.

Thanks Dave.

I don't know what a E19 error is. The closed loop control is not done at the card sercos card. The sercos card simply downloads positions. The drive does the closed loop control.

Update the Kinetics Firmware

Dave,

Update the firmware on the kinetics - latest version is 1.122 for V19

http://support.rockwellautomation.com/ControlFlash/

then come back if you are still having problems

Michael

PS just read the read me on 1.122

An E19 or E05 fault may occur if an MSO instruction is executed and the motor shaft is still rotating.

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