I have a u500 based system and i am trying to change my 5 um renishaw encoders to 1 um renishaw . i have changed the Metric conversion factor par# 100 and
English conversion factor par# 101 and the encoder reads distance ok , but i get a position error after moving 10MM. Is their some other parameter that i need to change?

this is my 5um parameter file
C:\u500\mmi\ApacNewBelt.prm1
Position Tracking
1 Keep axis position after reset (y/n) no
11 Axis 1 rollover machine steps 0
12 Axis 2 rollover machine steps 0
13 Axis 3 rollover machine steps 0
14 Axis 4 rollover machine steps 0
20 Plane 1 Metric System (y/n) no
29 Metric mode number of decimal digits (1-8) 3
30 English mode number of decimal digits (1-8) 4
38 Plane 2 Metric System (y/n) yes
47 Metric mode number of decimal digits (1-8) 3
48 English mode number of decimal digits (1-8) 4
56 Plane 3 Metric System (y/n) yes
65 Metric mode number of decimal digits (1-8) 3
66 English mode number of decimal digits (1-8) 4
74 Plane 4 Metric System (y/n) yes
83 Metric mode number of decimal digits (1-8) 3
84 English mode number of decimal digits (1-8) 4
15 PSO mailbox dual_port ram base address 0x0D800
16 PSO-HOST and PC interface address 0x00
page 1C:\u500\mmi\ApacNewBelt.prm2
Advanced Motion
0 Number of contour planes (1,2,4) 2
3 Axis 1 map to plane (0, 1-4) as (XYZU) 1,X
7 Axis 1 gantry (y/none), slave (2,3,4) none
4 Axis 2 map to plane (0, 1-4) as (XYZU) 1,Y
8 Axis 2 gantry (y/none), slave (1,3,4) none
5 Axis 3 map to plane (0, 1-4) as (XYZU) 1,Z
9 Axis 3 gantry (y/none), slave (1,2,4) none
6 Axis 4 map to plane (0, 1-4) as (XYZU) 1,U
10 Axis 4 gantry (y/none), slave (1,2,3) none
18 Plane 1 Indexing segment time (1-20ms) 10
21 Linear type ac/de (y/n) no
27 Clamp feedrate (program steps/ms) 1210.00000000
28 Corner rounding non-ramp time (1-32000 ms) 150
31 Contouring mode 1
36 Plane 2 Indexing segment time (1-20ms) 10
39 Linear type ac/de (y/n) no
45 Clamp feedrate (program steps/ms) 256.00000000
46 Corner rounding non-ramp time (1-32000 ms) 150
49 Contouring mode 0
54 Plane 3 Indexing segment time (1-20ms) 10
57 Linear type ac/de (y/n) no
63 Clamp feedrate (program steps/ms) 256.00000000
64 Corner rounding non-ramp time (1-32000 ms) 150
67 Contouring mode 0
72 Plane 4 Indexing segment time (1-20ms) 10
75 Linear type ac/de (y/n) no
81 Clamp feedrate (program steps/ms) 256.00000000
82 Corner rounding non-ramp time (1-32000 ms) 150
85 Contouring mode 0
90 A/D channel 1 joystick deadband 0
91 A/D channel 1 center position 0
92 A/D channel 2 joystick deadband 0
93 A/D channel 2 center position 0
94 A/D channel 3 joystick deadband 0
95 A/D channel 3 center position 0
96 A/D channel 4 joystick deadband 0
97 A/D channel 4 center position 0
98 Safe zone output bit (0-8) 0
99 Option board setup code 136
500 User interrupt setup code 0
501 Abort on input bit high 0
page 2C:\u500\mmi\ApacNewBelt.prm3
Basic Motion
2 MFO, 0 no MFO-pot, 1-255 pot offset 1
19 Plane 1 Contour ramping time 175
22 Contour feedrate (program steps/ms) 16.00000000
23 X point-to-point feedrate (program steps/ms) 16.00000000
24 Y point-to-point feedrate (program steps/ms) 16.00000000
25 Z point-to-point feedrate (program steps/ms) 31.25000000
26 U point-to-point feedrate (program steps/ms) 16.00000000
37 Plane 2 Contour ramping time 150
40 Contour feedrate (program steps/ms) 16.00000000
41 X point-to-point feedrate (program steps/ms) 16.00000000
42 Y point-to-point feedrate (program steps/ms) 16.00000000
43 Z point-to-point feedrate (program steps/ms) 16.00000000
44 U point-to-point feedrate (program steps/ms) 16.00000000
55 Plane 3 Contour ramping time 150
58 Contour feedrate (program steps/ms) 16.00000000
59 X point-to-point feedrate (program steps/ms) 16.00000000
60 Y point-to-point feedrate (program steps/ms) 16.00000000
61 Z point-to-point feedrate (program steps/ms) 16.00000000
62 U point-to-point feedrate (program steps/ms) 16.00000000
73 Plane 4 Contour ramping time 150
76 Contour feedrate (program steps/ms) 16.00000000
77 X point-to-point feedrate (program steps/ms) 16.00000000
78 Y point-to-point feedrate (program steps/ms) 16.00000000
79 Z point-to-point feedrate (program steps/ms) 16.00000000
80 U point-to-point feedrate (program steps/ms) 16.00000000
page 3C:\u500\mmi\ApacNewBelt.prm4
Homing/Limits Axis 1 Axis 2
x02 Home direction is CCW (y/n) yes yes
x03 Home switch normal open (y/n) yes yes
x04 Power-on home feedrate (machine steps/ms) 35.00000000 35.00000000
x05 Normal home feedrate (machine steps/ms) 35.00000000 35.00000000
x06 Home offset (machine steps) 0 0
x07 Home switch to marker (machine steps) 0 0
x08 Home/limit switch debounce (ms) 100 100
x77 Home/limit switch debounce (steps) 750 750
x09 Limit switch normal open (y/n) yes yes
x10 Switch to mechanical stop (machine steps) 2000 2000
x23 CW software limit (machine steps) 140737488355327 140737488355327
x22 CCW software limit (machine steps) -140737488355327 -140737488355327
x73 Enable vel/accel feedforward during home yes yes
x74 Use home limit during home cycle no no
x75 Safe zone - limit (machine steps) 0 0
x76 Safe zone + limit (machine steps) 0 0
x81 Home marker search speed (machine steps/ms) 0.00000000 0.00000000
Traps Axis 1 Axis 2
x16 Max ac/de (machine steps/ms/ms) 1.00000000 1.00000000
x17 Top feedrate (machine steps/ms) 825.000000 625.000000
x18 Max velocity error (0-8388607) 1000 1000
x19 Max position error (0-8388607) 4000 2000
x20 Max integral error (0-8388607) 655360 655360
x48 RMS current trap (0-100%) 40.0000 40.0000
x49 RMS current sample time (1-16383 ms) 10000 10000
x53 Clamp current output (0-100%) 100.0000 100.0000
x54 Which output bit for AUX OUTPUT 1 2
x70 Drive fault signal active low no no
x84 Aux output active high yes yes
x86 Enable Software Limit Input 0 0
x87 Axis Abort Input 0 0
page 4C:\u500\mmi\ApacNewBelt.prm5
Motor Feedback Axis 1 Axis 2
x38 Primary/Position feedback channel 1 2
x39 Secondary/Velocity feedback channel 0 0
x40 Primary feedback setup code 3 3
x41 Secondary feedback setup code 3 3
x42 Drive(0-DC Brush,1-AC Brushless,2/3-Stepper) 1 1
x43 If AC: Commutation factor(cycle/rev) 1 1
x44 If Encoder: Feedback (steps/rev/(*4)) 12192 10000
x45 Phase offset (degrees) 0 0
x46 If stepper: High current (0-100%) 70.0000 70.0000
x47 Low current (0-100%) 35.0000 35.0000
x63 Stepper microstepping resolution (steps/rev) 4000 4000
x64 Stepper encoder verification (yes/no) yes yes
x65 if yes, speed = (microstep/ms) 1.00000000 1.00000000
x66 C motor phase advance, base speed (steps/ms) 0 0
x67 base speed advance (degrees) 0 0
x68 phase speed (steps/ms) 0 0
x69 phase speed advance (degrees) 0 0
x79 Primary current command offset (mV) 0 0
x80 Secondary current command offset (mV) 0 0
x82 Encoder multiplication 0 0
page 5C:\u500\mmi\ApacNewBelt.prm6
Servo Loop Axis 1 Axis 2
x62 Servo loop update rate (1-100) * .25ms 4 4
x24 Notch filter (y/n) no no
x25 Kpos (0-8388607) 500 1500
x26 Ki (0-8388607) 8000 8000
x27 Kp (0-8388607) 80000 150000
x28 Vff (0-8388607) 256 256
x29 Aff (0-8388607) 0 0
x30 Notch Filter N0 0.99222517 0.00000000
x31 Notch filter N1 -1.98298168 0.00000000
x32 Notch filter N2 0.99222517 0.00000000
x33 Notch filter D1 -1.98298168 0.00000000
x34 Notch filter D2 0.98445034 0.00000000
x36 Integral error clamp (0-100%) 50.0000 50.0000
x78 Servo loop type 8 8
x83 Filter time constant (ms) 0 0
188 Second Notch Filter 0.000000,0.000000,0.000000,0.000000,0.000000,
288 Second Notch Filter 0.000000,0.000000,0.000000,0.000000,0.000000,
Other Axis 1 Axis 2
x13 Pause enable in freerun (y/n) yes yes
x14 MFO enable in freerun (y/n) yes yes
x15 Calibration enable (y/n) no no
x35 In position dead-band (machine steps) 1 1
x37 Backlash (machine steps) 0 0
x50 Joystick: High speed (machine steps/sec) 40960 40960
x51 Low speed (machine steps/sec) 2560 2560
x52 Absolute mode scale (machine steps) 10 10
x11 + Move is CW (y/n) yes yes
x12 + Jog same direction as + Move (y/n) no yes
x00 Metric conversion factor 0.20000000000000 0.20000000000000
x01 English conversion factor 0.50800000000000 0.50800000000000
x71 Orthogonality correction table enabled no no
x72 2-D error mapping enabled no no
x85 Reverse Joystick Direction no no
x21 In Position Time (msec) 50 50
Faults Axis 1 Axis 2
x55 GLOBAL FAULT MASK FFFFFFFF719F FFFFFFFF719F
x56 DISABLE AXIS FFFFFFF0FF87 FFFFFFF0FF87
x57 INTERRUPT PC FFFFFFF00000 FFFFFFF00000
x58 AUX OUTPUT FFFFFFF00000 FFFFFFF00000
x59 HALT QUEUE FFFFFFFF8E00 FFFFFFFF8E00
x60 ABORT MOTION FFFFFFFFDE7B FFFFFFFFDE7B
x61 ENABLE BRAKE FFFFFFF00000 FFFFFFF00000
page 6C:\u500\mmi\ApacNewBelt.prm7
Homing/Limits Axis 3 Axis 4
x02 Home direction is CCW (y/n) yes no
x03 Home switch normal open (y/n) yes yes
x04 Power-on home feedrate (machine steps/ms) 5.00000000 5.00000000
x05 Normal home feedrate (machine steps/ms) 5.00000000 5.00000000
x06 Home offset (machine steps) 0 0
x07 Home switch to marker (machine steps) 0 0
x08 Home/limit switch debounce (ms) 100 50
x77 Home/limit switch debounce (steps) 250 250
x09 Limit switch normal open (y/n) yes yes
x10 Switch to mechanical stop (machine steps) 2000 500
x23 CW software limit (machine steps) 140737488355327 140737488355327
x22 CCW software limit (machine steps) -140737488355327 -140737488355327
x73 Enable vel/accel feedforward during home yes yes
x74 Use home limit during home cycle no yes
x75 Safe zone - limit (machine steps) 0 0
x76 Safe zone + limit (machine steps) 0 0
x81 Home marker search speed (machine steps/ms) 0.00000000 0.00000000
Traps Axis 3 Axis 4
x16 Max ac/de (machine steps/ms/ms) 3.50000000 1.00000000
x17 Top feedrate (machine steps/ms) 365.000000 343.000000
x18 Max velocity error (0-8388607) 1000 1000
x19 Max position error (0-8388607) 400 150
x20 Max integral error (0-8388607) 10000 10000
x48 RMS current trap (0-100%) 50.0000 50.0000
x49 RMS current sample time (1-16383 ms) 10000 10000
x53 Clamp current output (0-100%) 100.0000 100.0000
x54 Which output bit for AUX OUTPUT 3 4
x70 Drive fault signal active low no no
x84 Aux output active high yes yes
x86 Enable Software Limit Input 0 0
x87 Axis Abort Input 0 0
page 7C:\u500\mmi\ApacNewBelt.prm8
Motor Feedback Axis 3 Axis 4
x38 Primary/Position feedback channel 3 4
x39 Secondary/Velocity feedback channel 0 0
x40 Primary feedback setup code 3 3
x41 Secondary feedback setup code 3 3
x42 Drive(0-DC Brush,1-AC Brushless,2/3-Stepper) 1 1
x43 If AC: Commutation factor(cycle/rev) 4 4
x44 If Encoder: Feedback (steps/rev/(*4)) 4000 4000
x45 Phase offset (degrees) 0 0
x46 If stepper: High current (0-100%) 70.0000 70.0000
x47 Low current (0-100%) 35.0000 35.0000
x63 Stepper microstepping resolution (steps/rev) 4000 4000
x64 Stepper encoder verification (yes/no) yes yes
x65 if yes, speed = (microstep/ms) 1.00000000 1.00000000
x66 C motor phase advance, base speed (steps/ms) 0 0
x67 base speed advance (degrees) 0 0
x68 phase speed (steps/ms) 0 0
x69 phase speed advance (degrees) 0 0
x79 Primary current command offset (mV) 0 0
x80 Secondary current command offset (mV) 0 0
x82 Encoder multiplication 0 0
page 8C:\u500\mmi\ApacNewBelt.prm9
Servo Loop Axis 3 Axis 4
x62 Servo loop update rate (1-100) * .25ms 4 4
x24 Notch filter (y/n) no no
x25 Kpos (0-8388607) 200 100
x26 Ki (0-8388607) 20000 20000
x27 Kp (0-8388607) 20000 25000
x28 Vff (0-8388607) 256 256
x29 Aff (0-8388607) 0 0
x30 Notch Filter N0 0.29324102 0.00000000
x31 Notch filter N1 0.58648205 0.00000000
x32 Notch filter N2 0.29324102 0.00000000
x33 Notch filter D1 0.00139046 0.00000000
x34 Notch filter D2 0.17157316 0.00000000
x36 Integral error clamp (0-100%) 50.0000 50.0000
x78 Servo loop type 0 0
x83 Filter time constant (ms) 0 0
388 Second Notch Filter 0.000000,0.000000,0.000000,0.000000,0.000000,
488 Second Notch Filter 0.000000,0.000000,0.000000,0.000000,0.000000,
Other Axis 3 Axis 4
x13 Pause enable in freerun (y/n) yes yes
x14 MFO enable in freerun (y/n) yes yes
x15 Calibration enable (y/n) no no
x35 In position dead-band (machine steps) 1 1
x37 Backlash (machine steps) 0 0
x50 Joystick: High speed (machine steps/sec) 40960 40960
x51 Low speed (machine steps/sec) 2560 2560
x52 Absolute mode scale (machine steps) 10 10
x11 + Move is CW (y/n) no yes
x12 + Jog same direction as + Move (y/n) yes yes
x00 Metric conversion factor 0.50000000000000 3.18309886183791
x01 English conversion factor 1.27000000000000 0.31830988618380
x71 Orthogonality correction table enabled no no
x72 2-D error mapping enabled no no
x85 Reverse Joystick Direction no no
x21 In Position Time (msec) 50 50
Faults Axis 3 Axis 4
x55 GLOBAL FAULT MASK FFFFFFFF4098 FFFFFFFF4080
x56 DISABLE AXIS FFFFFFF0FF87 FFFFFFF0FF87
x57 INTERRUPT PC FFFFFFF00000 FFFFFFF00000
x58 AUX OUTPUT FFFFFFF00000 FFFFFFF00000
x59 HALT QUEUE FFFFFFFF8E00 FFFFFFFF8E00
x60 ABORT MOTION FFFFFFFFDE7B FFFFFFFFDE7B
x61 ENABLE BRAKE FFFFFFF00000 FFFFFFF00000
page 9

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