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colinleer

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  1. I'm experimenting with the trajectory pre-filter in the interactive position loop tuning tool. I have an encoder on my end effector that is measuring the resonance I am trying to get rid of, and it is plugged into another motor encoder input on the PMAC. Is it possible to plot this encoder data in the tuning tool graph? In short, I'm using the tuning tool on Motor 3, but would like to also plot the encoder input from Motor 4. Thanks
  2. Thanks Eric and Steve, Eric, would you mind reposting the training slides you mentioned? not seeing an attachment in your post. thanks!
  3. Hi Eric, Thank you for the feedback, I will definitely look into the pre-filter tool. To follow up on the trajectory calculation, suppose I had computed my own trajectory offline and had an array of position targets per servo cycle...is it possible to send this to PMAC to execute?
  4. Does Power PMAC have any built-in input shaping capability? e.g. I have a significant mechanical resonance in my system that I'd like to compensate for. or, is there a mechanism for computing my own trajectory and using that in the servo command loop, versus the in-built move mode trajectory interpolation
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