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cannot adjust motor speed


pzhuproax.ca
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I started to learn Delta Tau recently. I have a CK3E and two R88D servo systems. i am able to run the two motors through CK3E. But I have the problem to get them to run faster. Whatever I changed the command F, like F50, F200, F1000, F10000, it looks like the speed of the motor is the same.

 

Here is the setting in global definitions.pmh

Motor[1].FatalFeLimit=0;

Motor[1].AbortTa=-0.1;

Motor[1].AbortTs=0;

Motor[1].MaxSpeed=50000;

Motor[1].JogTa=-0.1;

Motor[1].JogTs=-1;

Motor[1].JogSpeed=1000;

Motor[1].HomeVel=1000;

 

Coord[1].Tm=100;

Coord[1].FeedTime=60000;

Coord[1].MaxFeedRate=5000;

Coord[1].Td=-0.1;

Coord[1].Ta=-0.1;

Coord[1].Ts=-1;

 

Here is the program in Motion Programs.

I just tried run motor 1.

undefine all;

&1; //Select C.S. #1

#1->131072X; //Assign motor 1 to X axis w/131072 counts per user unit

#2->1048576Y; // Assign motor 2 to Y axis w/10000 counts per user unit

 

 

OPEN PROG 1

 

INC; //increamental position programming mode

TA80; //800 ms acceleration time

TS30; //300 ms s-curve time

LINEAR; //Linear move mode

 

while(1<2)

{

TA80;

TS30;

// TM300; //3000ms move time before deceleration

//Total move time is TM+TA=3800msclose

// frax(x,y);

F1000;

// X20 Y1;

x20;

DWELL2000;

// frax(x,y);

F2000;

// X-20 Y-1;

x-20;

 

DWELL2000;

}

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You will also want to check that Motor[*].InvAmax is set according to what your motor/drive is capable of.

If it is set at default value, likely that is limiting your acceleration, not your TA statements.

thank you Dave, this works.

another question, how can i reset the fault on servo drive through PowerPMAC?

 

Thanks,

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It depends.

 

In general, when PMAC tries to enable a motor, it will try to automatically clear any faults. If the fault was momentary and has passed (following error getting too high, for instance), then just issuing another command to the motor (such as "#1J/") would clear the fault and also execute the command. If the cause of it is still true (such as an encoder cable is unplugged), then PMAC will try and fail to clear it because the underlying source must be addressed first.

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