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rleoni

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Posts posted by rleoni

    PFM configuration problem

    in Power PMAC

    Posted

    18 hours ago, Eric Hotchkiss said:

    Take a look at the "Step and Direction, PFM Output" section of the Power Brick LV ARM manual. It has a PLC which can temporarily be used to select a frequency divider, as well as instructions to manually output a frequency and motor settings. I believe you should also be able to issue something like #1out50 for 50% of Fmax.

    https://automation.omron.com/en/us/products/family/Brick LV

    Thank you Eric for the information.

    I've read the section and I think I'm limited by the servo's frequency for very small movements.

    Is it possible to configure gate3 to disable PFM after predefined counting of pulse counts or time?

    I thought of using the "Capture/Compare Interrupt Service Routine", but by my measurements I got the same 20kHz as the phase interruption.

    PFM configuration problem

    in Power PMAC

    Posted

    23 hours ago, DaveBarnett said:

    'Sounds like perhaps what you are seeing may be some distortion in the PFM loop itself.

    Once your clock dividers are set for your application, you may want to tune the PID loop that controls these “pulse and direction” outputs.

    All the following terms will have an effect.  The manual suggests the following:

    Motor[x].Servo.Kp = 40

    Motor[x].Servo.Kvfb = 0

    Motor[x].Servo.Kvff = 40

    Motor[x].Servo.Ki = 0.001

    It’s particularly sensitive to the *.Servo.Kvff setting.

    Your *.pmh file has very different gain settings...(?)

    Thanks Dave for the feedback.

    I lowered gains because they caused overshoot or oscillation.

    PFM configuration problem

    in Power PMAC

    Posted · Edited by rleoni

    There is no CS configured and the AbortTa/AbortTs are also at 0.

    I think the problem is the servo frequency is too low.  I tried to use the Sys.PosCtrl, but I understood that it is only used to pass a target positing to another control loop (eg macro ring).

    PFM configuration problem

    in Power PMAC

    Posted · Edited by rleoni

    I'm working on the integration of SmarAct SDC2 (driver for piezo actuators) to the Power Pmac controller. 
    The piezo stage has a coupled sinusoidal encoder that is used to close the position loop in the SDC2 driver. The position setpoint is performed using pulses and direction signals up to 5 MHz.

    I configured the Power Pmac according to the "Setting Up Power PMAC for Pulse-and-Direction Control" section of the user manual and use "Gate3[0].Chan[0].TimerMode = 3 and Gate3[0]. Chan[0].TimerA" as feedback (I intend to use SDC2's quadrature output to confirm the position). I also set JogTA and JogTs to 0 to eliminate S-curve generation in Pmac (SDC2 performs this procedure). However, when I perform movements of a few counts, I observe that the output frequency is lower and there is an active deceleration function as shown in the images below:


    image.png.a084cd689538ecc68b003b1141202c0b.pngimage.png.22277bf23e2fffa8463970b818c30c8b.pngimage.png.f331aa5d9e156e810e02982f7b9199c3.png
    jog^10.

    image.png.7da691320b72556df3f920bfe8e6d5fe.pngimage.png.6db0222a555950e4092036a9c75ce46c.pngimage.png.25cb90c4121a651512a04c570b2ff1bc.png
    jog^100

    How should I configure Pmac to generate a specific amount of pulses by the "jog=" command at a constant frequency?
    SCD2.pmh

    Outher loop control

    in Power PMAC

    Posted

    Hello everyone.

     

    I'm working on a system (mirror bender) that is composed of two motors, each one with an encoder. The focus of this mirror is given by the relationship between these two motors. Then I created a kinematic to control angle between the motors and the offset from zero position. However is not linear because the mechanics and hysteresis.

     

    To compensate this, there is a capacitive sensor (+/- 10 V) monitoring the gap to the mirror.

     

    I would like to create an external control to observe the position of the capacitive sensor at the end of eacth the movement and send a new set point to the motors, repeating this process until the final position is within an acceptable error (trial and check the error).

     

    Is it possible to implement this type of solution? How can I do?

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