SpinTAC Position Move Error 1104

Hi,

I have a problem with SpinTAC Position Move. I get error 1104. The documentation writes about this error:

"Calculation overflow, JrkLim out of the range"

I setup the Position Move with the following code:

    //
    // set curve type
    //
    if (pMotion->nRampMode == nsCentrifugeMotor::RampSinusoid)
    {
        STPOSMOVE_setCurveType(stObj->posMoveHandle, ST_MOVE_CUR_STCRV);
    }
    else
    {
        STPOSMOVE_setCurveType(stObj->posMoveHandle, ST_MOVE_CUR_TRAP);
    }

    //
    // set distance to travel in spinTAC lib
    //
    int32_t posStepInt = nMoveCoords / MOTOR_ENCODER_STEPS_PER_REVOLUTION;
    float posStepFrac = ((float)(nMoveCoords % MOTOR_ENCODER_STEPS_PER_REVOLUTION)) / MOTOR_ENCODER_STEPS_PER_REVOLUTION;
    STPOSMOVE_setPositionStep_mrev(stObj->posMoveHandle, posStepInt, _IQ(posStepFrac));

    //
    // set velocity, acceleration, deceleration, jerk
    //

    // convert from U/min to kU/min
    maxVel_krpm     = _IQ(((float)pMotion->nVelocity)/1000.0);
    STPOSMOVE_setVelocityLimit(stObj->posMoveHandle, _IQmpy(maxVel_krpm, _IQ(ST_SPEED_PU_PER_KRPM)));

    // convert from U/min^2 to kU/min/s
    maxAccel_krpmps = _IQ(((float)pMotion->nAcceleration)/60000.0);
    STPOSMOVE_setAccelerationLimit(stObj->posMoveHandle, _IQmpy(maxAccel_krpmps, _IQ(ST_SPEED_PU_PER_KRPM)));

    // convert from U/min^2 to kU/min/s
    maxDecel_krpmps = _IQ(((float)pMotion->nDeceleration)/60000.0);
    STPOSMOVE_setDecelerationLimit(stObj->posMoveHandle, _IQmpy(maxDecel_krpmps, _IQ(ST_SPEED_PU_PER_KRPM)));

    // use a fixed value for jerk
    STPOSMOVE_setJerkLimit(stObj->posMoveHandle, _IQ20mpy(_IQ20(jerk), _IQ20(ST_SPEED_PU_PER_KRPM)));

    //
    // configure SpinTAC Controller
    //
    STVELCTL_setEnable(stObj->velCtlHandle, false);
    STPOSMOVE_setEnable(stObj->posMoveHandle, true);
    STPOSCTL_setEnable(stObj->posCtlHandle, true);

I used the following parameters:

nMoveCoords = 4000 (MOTOR_ENCODER_STEPS_PER_REVOLUTION = 8000)
pMotion->nVelocity = 200
pMotion->nAcceleration = 60000
pMotion->nDeceleration = 60000
jerk = 4.0

I have a device where no error occurs. And I have another device where the hardware is slightly different, where the error occurs. Then I always get the error 1104.

When the distance to travel is greater (not 4000, but maybe 20000) there is no problem. I also tried to change the jerk parameter from 0.1 up to 8.0 but that did not help. I tried to change the acceleration/deceleration limit but this also did not help. I tried to increase the jerk limit during initialization from 1.0 to 5.0 with

STPOSMOVE_setJerkLimit(obj->posMoveHandle, _IQ20(5.0));
But this is also not a solution.

So where is the problem. What can I do?

Sebastian