Hello Wreng,

there should not exist any delay between _to/ externalencoder/ motionstate/ position and _to/ externalencoder/ motionstate/ velocity.
Velocity is computed within the same IPO-cycle and has to be changed immediately.

Can you capture a trace in servo cycle for me with the following variables?

_to/ externalencoder/ motionstate/ position
_to/ externalencoder/ motionstate/ velocity
_to/ externalencoder/ motionstate/acceleration
_to/ externalencoder/sensordata/incrementalposition
_to/ externalencoder/sensordata/position
_to/ externalencoder/sensordata/velocity
_to/ externalencoder/sensordata/acceleration
_to/ externalencoder/error

Then zoom extremely to that cycle when ...motionstate.position is beginning to change. Velocitiy must change as well.

Best regards
Hucky

Hello Wreng,

I had a look to your trace. Inside the first trace is position and velocity of an external encoder.
There is no delay of position compared with velocity at all. In each IPO-cycle the velocity equates to position.

To show you this here a little computing example for a special timestamp. I took your trace.You can do the same everywhere.
Motionstate in IPO. Your IPO (or trace cycle) is 9ms, I suppose.

-Time between t1 = -10180 ms and t2 = -10162 ms ==)> Difference is 18 ms
-positions: p1 = 70084.607 mm and p2 = 70084.604 mm ==)> Difference is 0.003 mm
So you have a velocity of 0.003 mm per 18 ms ==)> speed is 0.003/18 mm/ms = 0.00017mm/ms = 0.16667 mm/s
-Displayed velocity: -0.191 mm/s.
Please mind: all values are LREAL internaly. The system is more exact as the rounded values displayed in trace.

Best regards
Hucky