GetVectorVelocity() (current feedrate) in PLC

[RomanSolonto]

Good day.

I'm trying to set up a laser CNC.

Laser radiation power should depend on the current (actual) feedrate.

I need to make some variable ActualFeedrate-depended. In PHMI Designer I can use GetVectorVelocity(0) to view the current feedrate. How can I get actual feedrate and use it to set ACC-59E DAC ch#1 (m4602->Y:$78E08,0,12,U)?

[Omron Forums Support]

Isx89 indicates the most recently issued feedrate command by means of the F or TM command.

 

sx = 50 + (Coordinate system number), so for coordinate system 1, I5189.

 

See page 189 of the Turbo SRM for more details.

[RomanSolonto]

Thank you.

But I need to calculate instant vector feedrate (use only X- and Y- axis). If I cut a square - in each corner instant vector feedrate will be 0, then it will accelerate, but I5189 will keep value. How can I get feedrate in each corner?

[curtwilson]

Most people who do this assign M-variables to the instantaneous desired velocity registers for each axis, then take the vector sum. This works better than noisy instantaneous actual velocity values.

 

For example, define:

 

M160->X:$86,0,24,S ; Motor 1 instant cmd vel register

M260->X:$106,0,24,S ; Motor 2 instant cmd vel register

 

Then in a PLC program:

 

P60=SQRT(M160*M160+M260*M260) ; Instantaneous vector velocity

M4602=P60*P61 ; Scale and output

[RomanSolonto]

Thank you very match.

[cmcdonald]

Most people who do this assign M-variables to the instantaneous desired velocity registers for each axis, then take the vector sum. This works better than noisy instantaneous actual velocity values.

 

For example, define:

 

M160->X:$86,0,24,S ; Motor 1 instant cmd vel register

M260->X:$106,0,24,S ; Motor 2 instant cmd vel register

 

Then in a PLC program:

 

P60=SQRT(M160*M160+M260*M260) ; Instantaneous vector velocity

M4602=P60*P61 ; Scale and output

 

 

 

I think M160 and M260 have to be multiplied by 3/(I108*32) to get into counts/mS

 

Chris