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External axis(MU100) Tune Master tuning - strange Torque reference

MattB
MattB ✭
in Robot Controller
Hello All.
During tuning external axis in TuneMaster I have notices a strange behavior of torque reference. When tuning parametrs like Ti my torque refernce looks like on screen below (blue curve). Reference torque meets its limit around 5 Nm and its cut off. But during tuning Acc/Decc Torque reference looks completely different - see second image. According to TuneMaster help Torque reference should also meet its limit - but id doesn't. Any ideas why this is happening? Could be this a problem with wrong motor type or some other parameters?


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