B & R Acopos Drive 1090 Lag Error

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I am current using an Acopos Drive along with their mapp layer to program a servo motor but after doing the auto tuning of the servo motor i started getting an Error code : 4007 Lag Error stop limit exceed. I guess that is because i dont have any torque on the motor or not the required torque but in auto tuning there is no feature call torque tuning as there is only position and speed with different filter. I anybody know how to get ride of that error i would really appreciate it.



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The torque loop doesn't need to be tuned, just the speed, position, and possibly feed forward if you are using it. If the motor isn't even trying to move, you may have an issue with a cable. You can check the cable by doing a phasing command.

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