Hey folks,

I'm having an issue with my BP Series II with Centroid M40 Servo system. When I run a program, any time it goes to Z home (for tool change, for example) I get either a Z-position error or a Z-stall error. I can jog the knee all day without issue, but I do get a shudder (2-4" from the bottom of travel) when I rapid the knee down. It seems to be worse if I start at the top of travel than if I start mid-travel. This machine has an air support for the knee. The installation manual for the Series II says it should be run at 40 psi. I wonder if something is wrong with this system. I have a relieving regulator supplying the air, and it doesn't seem to spike the pressure or anything. Are the shudder and servo error likely related, or separate issues? Any thoughts?

Thanks everyone!
Tom