Axiscontroller CSP Mode problem

[RinMa89]

Hi,

I have some problems with the Axiscontroller in CSP Mode.

Sometimes when xFollowEnable is activated the value of otg.TargetPosition gets written into the otg.NewPosition variable!
Which causes the servo drive to trip immediatly offcourse because this is often a very big step!

Do you have any idea how this could happen?

2025-02-12_171020.mp4

[feecat]

Hi,
when use a very large value into otg calc, the numerical robustness will lower. so i suggest that use Control.Scale to scale axis position <-> cia402 target position. normally its should be 1E4 to 1E6.

[RinMa89]

Thanks, i will try that.

Still it think it is strange, this only happens (sometimes) right after xFollowEnable is enabled.
When it doesn't happen and i do not not stop the movement, the axis will move from 30000000 position to -30000000 position without problems.