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velocity limit in spline mode


mao
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hi all;

I used spline2 mode in prog;

this is my code:

#define Motor11Pos P1000

#11->X;

open prog 1 CLEAR

I42 =0;

SPLINE 2 TM20;

abs;

WHILE(Start_flag=1)

X(Motor11Pos);

ENDW

close

Now, the P1000 is dynamic and ruleless! so I want to limit max velocity of #11 .

the parameter Ixx16 no works to limit motor velocity.

how can i do to limit ?

thanks .

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hi all;

I used spline2 mode in prog;

this is my code:

#define Motor11Pos P1000

#11->X;

open prog 1 CLEAR

I42 =0;

SPLINE 2 TM20;

abs;

WHILE(Start_flag=1)

X(Motor11Pos);

ENDW

close

Now, the P1000 is dynamic and ruleless! so I want to limit max velocity of #11 .

the parameter Ixx16 no works to limit motor velocity.

how can i do to limit ?

thanks .

 

The only way I can think of would be to use a PLC. A PLC could check and modify the commanded position or TM at timed intervals. In order to maintain a consistent velocity, TM could be set proportional to the ratio of new to old position commands. Or, just limit the amount the position can change per time interval.

 

However, for an easier approach, you might try linear mode which does obey Ixx16 and Ixx17, and then use only TS for acceleration in order to get a smoother profile approximation of spline mode.

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