Test move will take too long

What does 4065 mean?

The calculated duration for a test move is excessively long, indicating potential misconfiguration of test move settings or incorrect scaling parameters. This can prevent tuning procedures from completing efficiently or accurately, and may indicate an issue with motion profiles.

• Test move target position (e.g., Parameter P3-04 for position moves) is set to an excessively large value.
• Velocity or acceleration limits (e.g., Parameter P3-05 (Max velocity), P3-06 (Acceleration)) configured for the test move are too low.
• Position scaling factor (e.g., Parameter P1-54 (Motor to load ratio), P1-55 (Units per motor rev)) is incorrectly configured, causing large internal position demands for small physical moves.
• Mechanical system has very high inertia or friction, and default test move parameters are not adjusted for it.
• Incorrect units of measure selected for position parameters, leading to misinterpretation of target values.

Click steps to track your progress.

1. 1

   Review the configured target position for the test move (e.g., P3-04) and ensure it is a reasonable value for the physical system.

2. 2

   Increase the test move's velocity (e.g., P3-05 (Max velocity)) and acceleration (e.g., P3-06 (Acceleration)) parameters, ensuring they are within safe operational limits.

3. 3

   Verify the motor to load ratio (P1-54) and units per motor revolution (P1-55) parameters are correctly set to reflect the physical gearing and desired engineering units.

4. 4

   Temporarily reduce the commanded test move distance to a very small value to confirm the issue is related to calculation time rather than a fundamental motion block failure.

5. 5

   Ensure the drive's internal position loop gains (e.g., P5-01 (Kp), P5-02 (Ki)) are tuned sufficiently to allow the motor to follow the command without excessive lag.

6. 6

   Check the mechanical system for any binding or excessive friction that would prevent the motor from reaching commanded velocity within expected time.