Hello ,i have been working with DMC 3011 and uses commands for generating sinusoidal motion. I have never got any problem ,all working fine. Now i have a brand new DMC 3011 and when i used it for sinusoidal motion i noticed that the actuator shifts its position towards backwards and hit the limit switch.
The encoder counts TPA and RPA are showing equal values in watch window in Galil tool software. Anybody met this problem ? How can i verify it is not controller issue?
Thanks .
Galil_CoryB on 01/14/2016 - 11:18
roopesh-
[br]I do have a few questions for you regarding your question above
[br] - How are you generating this signal sinusoidal signal?
- Is the external amplifier set up the same?
- Do both controllers read the same position delta when turned clockwise (does one show a positive change and one show a negative change)?
[br]From controller to controller they should be exactly the same so it could be something external such as the amplifier or the wiring harness.
[br]Cory B
Galil Applications Engineer
roopesh_meleth on 02/03/2016 - 04:06
Thank you Cory.
I am generating commands in Lab-view and using sends as an array to the controller.
The external servo drive is set for encoder counts 4096.
The commands are as follows
VM A
VS 129119
VA 811281
VD 811281
CR 20550,90,3600
VE
BG S
The amplitude of sine wave 50 mm, frequency=1 Hz , number f cycles =10
VS = 2*pi*(Amplitude*counts(411)) *frequency
VA,VD= (2*pi*f)*(2*pi*f)
CR =(Amplitude*counts(411)) , 90 , (360*no of cycles)
We did not have scope to verify the TPA, RPA values . when i plot the TPA ,RPA Values obtained by querying ,the wave forms are matched to each other at the beginning of the motion.
As the motion progress the counterclockwise movement is seems to pull the actuator towards that direction and it goes and hit the maximum limit at that side.
Galil_CoryB on 08/19/2016 - 11:17
roopesh-
Is the RP value staying in the same range through each cycle? If the RP is staying in the same window but the actual motion is moving in one direction it is probably noise in the system which is causing drift in your motion. If these are single ended encoder, I recommend using differential ones for increase noise immunity.
If you are still having issues please email me at coryb at galil dot com and we can discuss.