Hi,

We have C-axis that has Fanuc servo motor with A860-2005-T301 pulse coder, there is also Sick DFS60A-S4PC65536 (TTL, programmable max. 65536 ppr) pulse coder in the center of the table. I have not been able to get it to work correctly (movement is twitching) with full closed loop. What would be right parameters to do so?

LCI=0,001
Gear-ratio: 110:1

These are the parameters that I have tried (also many others, I’m missing something with the calculations). Setting of the external pulse coder was 65536.
P1820=105
P2023=8192
P20204=768
P2185=55
P2084=112
P2085=409
P1821=72000
P1815#1=1
P2000#0=0
P2179=0
P2274#0=0
P2275#0=0
P2275#1=0
P2394=0

-Niko