New Trajectory Planner - Testers/programs wanted

Yes it is the Y axis. The y axis is both joints 1 and 2, I'm pretty sure it was joint 1 that always triggered the ferror. Maybe my acceleration settings have been to aggressive but I've just been getting away with it this past year?

Can you set Axis to plot the commanded instead of actual position and try your code that triggers the following error?

( This setting is towards the bottom of the Axis "View" menu )

This would help differentiate TP errors from tuning errors

I dropped my acceleration from 750 to 600 and it now follows the path without errors. I must admit I am quite surprised this was the solution considering how long it's been running like this. Thanks skunkworks for the testing you did and PCW for your input.

I suspect that the answer might be simply the new traj. planner maintained higher speeds taxing your servos more pushing a marginal configuration over the edge. (but that is only a guess)
I think that it would still be a good idea to try further testing to nail down the real source of the cause. The above test that Peter mentioned may shine a light on whether the cause was an over taxed drive shutting down, or if it was the planner screwing up. Another idea, if your drives have tuning software that allow you to monitor the drive's output, and how close it is to a shutdown, while you are running the problem code.