Experimental Physics and Industrial Control System
Subject: |
OMS VME58-4S / brushless motor / servo-star3000 / motor 6.2 |
From: |
jerome HOSSELET <[email protected]> |
To: |
[email protected] |
Date: |
Wed, 19 Sep 2007 09:15:21 +0200 |
Dear all,
In fact, I agree with you to solve problem metodically:
When I boot my system, I see motor oscillation .
after that trying then to move the motor,
I see TORQUE change in DISABLE status.
If I want move correctly, I must to set this commands:
SM("AT KP1 KD0 KI0 LP0 HN",0)
taskDelay(100)
SM("AT KO.1 RE",1)
taskDelay(100)
SM("AT AN",0)
Now Motor is working in both direction with PID : KP1 KD0 KI0
When CNEN (torque) is on/off, motor can'nt move with hands.
(for handly moving a motor I must to disable a servostar)
Encoder increase when motor increase. Our encoder is phased.
Status update ok, I see a button.
Now I try to access a final position very fastly (with no retry) but I
have a biggest error between a final position and desired position.
My setup is:
SREV= 2048 step/REV
UREV= 360 °
EGU = degrees
=> MRES = 0.17578
I put ERES & RRES with a same value
ERES=RRES=0.17578
-1/ Is it correct that ???
I use only READBACK.
-2/ How to turn off backlash ??
- Is it a motor with no charge ??
- Is it a motor with no belt ??
We use a brushless motor & servo-star 300 & OMS58-4S
We would like to see one pulse more largest.
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adr:;;23 rue du loess;Strasbourg;;67000;FRANCE
email;internet:[email protected]
title:Assistant Ingenieur
tel;work:03 88 10 65 30
tel;home:03 88 xx xx xx
tel;cell:06 60 xx xx xx
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