I have a very strange problem.
Environment: MAX 3.0.1, FLEX MOTION 5.1.1, PCI-7344, Amplifier MID-7654, 4 motor-encoders.
1) I successfully tuned the PID parameters so all the 4 motors are servoing now.
2) I manaully turned a motor and read back the positions through 1-D Interactive are between around [-37000, +37000] (corresponding to [-180, 180] degrees). It's true for all the 4 motors;
3) I used my application to drive them to Range Of Motion and read the position. The returned values for motor 1-3 are around [-180, 180], while for motor 4, I got [0, 360] degrees.
4) I made the same drive and read the positions of motor 4 from 1-D Interactive, two strange things found:
a) I saw motors 1-4 reach their positive limit (
180 deg) together and stopped there, and position reading for motor 4 was around 37000, but it kept increasing to around 74000 (which is 360 deg) without any real motor movements. Then all the 4 motors moved backwards to the negtive limits and stopped there. The reading for motor 4 was near to 0.
b) Then all of them moved back to real zero positions. I saw the reading for motor 4 approaching to 37000, then changed directly back to 0 after motor 4 reached zero and stopped there.
Could anybody help? Thanks a lot.
Jason