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error 39401 (torque current reference error).

SteveB
SteveB ✭
in Robot Controller
one of the solutions is to reduce the gain of the speed loop but I doesn't say how.  does anyone know? 

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  • graemepaulin
    graemepaulin ✭✭✭

    See attached for information on the TuneServo command -this is for RW6 which has predefined motion process modes tune for different scenarios (stiffness, speed, etc), RW5 has only one mode.

    If this is an external axis without a dynamic model then there is are system parameters under the Motion Topic -> Lag Control Master 0 which includes the Kv gain speed loop.

    Be very cautious when doing tuning as things can get out of control quickly with resulting damage to motors, gearbox's, etc .

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