Hi,
kool, you have a solution, but do you have an answer?
May I suggest putting a LED or LEDs on screen and attach the input signals which are associated with your alarm outputs. It may give you a valuable insight
into the behavior of your machine but also the nature of the firmware fault.
If you are using wx4.set then the machine diagnostics page has six LEDs for inputs INPUT#0 to INPUT#5 so would be a fairly simple exercise.
What servos are you using? I have been spoiled by Allen Bradley, they have software, which I had to buy much to my disgust, that lives on my PC which I can
program all the parameters and features of the servo, simulate how it runs and when I'm happy download the whole shooting match to the EPROM memory
on the drive. I can unplug the drive from the PC and use it as a standalone drive. I thought it was a bit over the top when I first looked at it and trying to
justify spending a couple of hundred bucks on it but I'm glad I did.
Of course Allen Bradley are far from the only good servos out there but given I've got this software and how easy they are to use I'll be buying more of them,
they can be reasonbly priced second hand off EBay.
Amongst the things you can program is an analogue output that reflects the current following error, fascinating watching the error loop close when you offer up
a motion profile.
Craig