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# Acceleration / Deceleration on a Phantom axis

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Dear all,

I have two motors, and the third one is used as a phantom motor for sending trigger signal to my laser source. Trigger signal is sent by typical Jog command in my case: #3J+ (Motor 3 is a phantom motor)

When I plot the velocity profile, it takes around 0.3 s to get to the constant velocity. I set these values in order to achieve an instantaneous (as close as possible) velocity.

I319 = 10000 (maximum acceleration)

I317 = 10000 (jog move acceleration)

I320 = 1 (acceleration time for Jogging)

I321 = 0 ( S curve acc time)

With these parameters I should be able to achieve more or less a square profile of my velocity at the "phantom" motor, since it only sends trigger signal and do not perform any move. But I am not succeeding.

I am sending the plot of the velocity profile (actual vs commanded).

I hope that you can help me. • Replies 2
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Dear all,

I have two motors, and the third one is used as a phantom motor for sending trigger signal to my laser source. Trigger signal is sent by typical Jog command in my case: #3J+ (Motor 3 is a phantom motor)

When I plot the velocity profile, it takes around 0.3 s to get to the constant velocity. I set these values in order to achieve an instantaneous (as close as possible) velocity.

I319 = 10000 (maximum acceleration)

I317 = 10000 (jog move acceleration)

I320 = 1 (acceleration time for Jogging)

I321 = 0 ( S curve acc time)

With these parameters I should be able to achieve more or less a square profile of my velocity at the "phantom" motor, since it only sends trigger signal and do not perform any move. But I am not succeeding.

I am sending the plot of the velocity profile (actual vs commanded).

I hope that you can help me.

I'm using a phamtom motor as well and I have square velocity profile. ( within 1 severo loop )

I3119=0

I3117=10

I3120=0

I3121=0

Hope this helps

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corto,

First, I moved the thread to Turbo PMAC forum since it wasn't related to Power PMAC. Please make sure to post related questions under appropriate forum.

Second, based upon the graph that you have posted, your trajectory is fine, but the PID tuning is not. Since this is a phantom motor and you want it to be able to follow your command immediately with high bandwidth, tune your motor as a PI loop.

If this phantom motor is using internal pulse and direction for feedback, please use the following gains:

```i800=1
i801=0
i802=\$7811C
i803=\$3519
i804=\$3519
I824=\$20001
I7140=8
I7146=3
I8024=\$78118
I869=8191

I882=0
I881=0
I822=1024
I819=1

I857=0
I858=0

I830=1024
I831=-30000
I832=15513
I833=102
I834=1
I835=85500```

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