Examples and tips
PROGRAMMING MANUAL 274
Revision 3.0
fig. 45
The capture result is given in the figure.
In the example given above, the value of the UNITS parameter is
set to encoder counts. The position of the master axis MPOS
AXIS(0) is given in red (Table Block 0, Table(1000) to Table(1999),
see the settings in the Oscilloscope Configuration window). The
position increases linearly, because the speed of the master axis is
constant.
The demanded position of the slave axis DPOS AXIS(1) is given in
blue (Table Block 1, Table(2000) to Table(2999), see the settings in
the Oscilloscope Configuration window). This graph is a cosine
curve. It corresponds to the created CAM table.
The measured speed of the slave axis MSPEED AXIS(1) is given in
yellow (Table Block 3, Table(4000) to Table(4999), see the settings
in the Oscilloscope Configuration window). This graph is a
sinusoidal curve, because the speed is a derivative of the position,
and the derivative of the cosine is the sine. At high speeds, there
are some ripples.
The green graph is the torque of the motor for the slave axis set
with DRIVE_COMMAND=11 as a percentage of the nominal
torque. The torque is proportional to the acceleration. Because the
acceleration is a derivative of the speed and the speed is sinusoidal
curve, the acceleration (and also the torque) is a cosine curve.
There is one peak at the start and another peak at the stop
because there is a discontinuity in the acceleration. There is also a
high frequency oscillation in the torque curve, suggesting a
resonance frequency that can be eliminated using the notch filter
settings in the Sigma-II Servo Driver. The high frequency is
reinforced, because it is also reflected in the speed curve. For more
information on notch-filter settings, refer to the Sigma-II Servo
Driver manual.
Troubleshooting with the oscilloscope
When the desired data is captured and recorded into the Table
memory entries, you can use the oscilloscope to visualize this data.
This can help you when you commission and troubleshoot the
I52E-EN-03.book Seite 274 Freitag, 29. Juni 2007 11:55 11
To Next Page
Loading...
Need help?
General
