So I'm converting from CNCdrive DG4s drives to DMM gear. I'm having a lot of trouble getting the DYN4 to work in a way that I'm used to. On the DG4S drives you set an encoder count for the following error and when it exceeds that the drive faults and motion stops and the error line signals the BOB to go into estop. From what I’m seeing the “on position range” isn’t doing what I think it should be doing.

I used the auto tune feature and the motion looks pretty close with what I was seeing with the DC system. My goal was to get the drive to estop the system if the following error exceeded a certain amount.

I played with the "on position" range and have pin 6 on the drive switching from high to low when it exceeds the on position setting. The problem is even at the full 127 setting I'm triggering pin 6 on every direction change. I suppose it could be a massive overshoot problem but before I dive down that rabbit hole I thought I would see what others are doing.

Thanks
Derek