Hi Charles,
Jog1=165,000 gets about 600-700 rpm (still guessing), with .970 volts on the command terminals. Turning the speed pot changes motor speed.
When Jogging with a proper closed loop servo the Jogging speed should be exactly what is commanded. So turning the speed pot shouldn't make any difference. The servo should adjust the DAC output to be whatever is needed to go at the requested speed. I suspect you have the max limit output set at 200 DAC Counts (about 0.970V). If you were to observe the Analog Screen you would probably see the DAC stuck at 200 counts. This is like putting a brick under the gas pedal in a car and trying to go 60MPH. The pedal will be against the brick with the car only going 40MPH. I don't know what the Max Following Error is set to but after falling behind more and more from where it should be eventually it exceeds the following error limit. Increase the max limit output up to 2047 to allow that amplifier to be command faster.
Here is a program that should display the motor speed in counts/sec and RPM
Code:
#include "KMotionDef.h"
#define AXIS 0
#define DT 0.5
#define CNTS_PER_REV 16000.0
main()
{
double x,x1,t1,t,dx,dt;
x1 = chan[AXIS].Position;
t1 = Time_sec();
for(;;)
{
Delay_sec(DT);
t = WaitNextTimeSlice();
x = chan[AXIS].Position;
dt = (t-t1);
dx = (x-x1)/dt;
if (dx != 0.0)
printf("Velocity = %f counts/sec %f RPM\n",dx,dx/CNTS_PER_REV*60.0);
x1 = x;
t1=t;
}
}