SpinTac Position unstable when stop-position

Frank,

Did you estimate the inertia and friction using lab 12a?

Were you adjusting the bandwidth for SpinTAC Position Control? This can be done via gMotorVars.SpinTAC.PosCtlBw_radps

As far as I know that the Lab 12a has a long distance of rotation to estimate the inertia and friction.
Is it OK to use the lab 12a for Linear Motor which is limited of movement distance ? it's very shorter distance than rotary AC Servo motor.

Target Motor:

http://www.dunkermotoren.com/default.asp?id=116&lang=2

http://www.tpcpage.co.kr/product/motion_list_view.asp?productNumber=342&Bcode=02&Mcode=07&Scode=01

Target Linear Motor :
www.dunkermotoren.com/default.asp;lang=2
www.tpcpage.co.kr/.../motion_list_view.asp;Bcode=02&Mcode=07&Scode=01

Frank,

For motors with a limited range of motion, I would recommend that you do the following for lab 12a:

- reduce Ramp Time -> this will run the inertia test faster

- reduce Goal Speed -> this will cause the speed to be lower to do the estimation

- manually move the motor so that it has the maximum positive motion possible

I've been able to get a good inertia estimation in less than 1 revolution of a servo motor.

When the position mode is implemented with SpinTac Position Move, how to identify the inertia for sensored position mode application?
Do I Just put the code from ST_runVelId in lab12a into mainISR in Lab13b? or Is there no way for SpinTac position move?

I have used Lab13b for position mode, and want to implement the Auto tuning mode to identify the Inertia, friction, and position control bandwidth scale (gMotorVars.SpinTAC.PosCtlBwScale) in position mode.

You can put the inertia identification code from lab 12a into lab 13b, but you need to make sure that after the inertia identification is complete that you update Position Move with a new start position.  Since the motor has moved without Position Move commanding it, it needs to be updated with the current position before you enable the position control system.

You should be able to use the functions: STPOSMOVE_setStartPosition_mrev and STPOSCONV_getPosition_mrev in order to accomplish this.

I put the inertia identification code from lab12a into lab13b, but it made the errors.
Could you give me the example source code which a modified lab13b has the inertia identification code from lab12a?

Frank,

I don't have an example of this available.

In terms of debugging it is probably best to get the Velocity Identify to work first. So add in the code and attempt to only get that to function. Once Velocity Identify is working, set up the code so that you can switch between Velocity Identify and Position Control.