I just noticed something weird today on a program running 18 kinetix 6000 axes with MPL motors and absolute encoders.
These programs I have saved offline from various facilities all running the same basic underlining code.
I was looking at the offline values stored from when I last saved the PLC of the Kinetix Axes and the Actual Position/Commanded Position values are way out of whack. The Axis are configured/scaled correctly in inches with software limits set to 7 inches of stroke on a linear actuator. These have been running for years and repetitively moving from 0 to 5 inches. There's no issue with the running code, but when I look at the offline tag values of the Axes the Command/Actual Position values are ALL over the place. Some as high as 121 inches?! With a software limit and physical stroke limit of the actuator at 7 inches, how can actual/commanded be 121 inches? And I know when I saved the program, all the axes were parked at 0.
Could it be a tuning issue where the axis is hunting very rapidly and I saved an instantaneous snapshot? I don't see how 121 inches is possible even hunting considering Position Error limits are .05 inches.
Note: Ver 20 of CLX and Sercos. I just checked another older program that was ver 16 and all those are sitting at 0.0000xxx as expected.
These programs I have saved offline from various facilities all running the same basic underlining code.
I was looking at the offline values stored from when I last saved the PLC of the Kinetix Axes and the Actual Position/Commanded Position values are way out of whack. The Axis are configured/scaled correctly in inches with software limits set to 7 inches of stroke on a linear actuator. These have been running for years and repetitively moving from 0 to 5 inches. There's no issue with the running code, but when I look at the offline tag values of the Axes the Command/Actual Position values are ALL over the place. Some as high as 121 inches?! With a software limit and physical stroke limit of the actuator at 7 inches, how can actual/commanded be 121 inches? And I know when I saved the program, all the axes were parked at 0.
Could it be a tuning issue where the axis is hunting very rapidly and I saved an instantaneous snapshot? I don't see how 121 inches is possible even hunting considering Position Error limits are .05 inches.
Note: Ver 20 of CLX and Sercos. I just checked another older program that was ver 16 and all those are sitting at 0.0000xxx as expected.
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