We have a customer who doesn't believe the controller is testing for the Y-Axis to be in position and stopped before firing the press. They have Local SERCOS Y-Axis drives that do the positioning. There is a position tolerance and a stopped tolerance. It is possible that the stopped tolerance or position tolerance could be faulty.

We have added debug prints in the test when it is determined that it is OK to fire. We are printing the Position and Velocity tolerance for each SERCOS Y-Axis. In the tolerance printount we are printing the current line position, the cmd Y-Axis position, the actual Y-Axis Position and the Current Y-Axis velocity.

If we don't get the debug prints, we know it isn't testing. If we get the debug prints, we will know if it is testing for each press fire and, with some backwards calculateing, we will know if the correct Y-Axis position has been commanded and the presses fired at the correct X-Position.