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SpinTAC Position Move with constant torque

Gustav Storck
Prodigy 40 points

Hi!

I've been working on combining lab 13b and 13e so that I can switch between position control and velocity control, and that seems to work fine.

When running in velocity mode, the system powered by the motor will eventually reach its end position forcing the motor to a hard stop. When this happens the controller seams to shut down the system and turn of the motor, reporting error ID 2002 (Position error exceeds maximum). Is there any way of preventing the controller to shut down the system by itself? When the motor comes to a stop I would like the controller to keep applying torque until it is shut down externally, is this possible if using SpinTAC Position Move?

Grateful for any help!

Gustav

  • 0
    Guru 12800 points

    Gustav,

    If the motor has reached a hard limit and the position reference is still being advanced, you will trigger error 2002, since the position error is greater than the allowable maximum.  This is designed to protect your system since typically position systems do not allow a very large error.

    My suggestion is that when your system reaches the hardstop, set the enable to SpinTAC Position Move to false.  This will stop the profile generation and will limit how much the position error will grow.  If the position error is less than the maximum, you will not trigger error 2002 and the system will ramp the torque up to maximum to try and align the position feedback with the position reference.

  • 0 in reply to Adam D. Reynolds
    Prodigy 40 points
    Hi adam!

    I am not sure what the effect of increasing the value of ST_MREV_ROLLOVER can be? Can it effect my systems position resolution/stability/response or settling time in a negative way? I can live with less resolution, since it is currently mare than I actually need, but stability and response time is very important.


    I would like to increase ST_POS_ERROR_MAXIMUM_MREV but am now limited by the maximum of ST_MREV_ROLLOVER/2.

    Gustav
  • 0 in reply to Gustav Storck
    Guru 12800 points

    Gustav,

    Gustav Storck said:
    Can it effect my systems position resolution/stability/response or settling time in a negative way?

    It shouldn't impact any resolution, stability, or response in your system.  We established the default as 10 for simplicity as we didn't expect many people would tolerate a position error greater than 5 revolutions.

    You should be able to increase it to the maximum of 120 without issues.