zhangzheng2277 Posted May 13, 2020 Share Posted May 13, 2020 Hello, I'm currently using the Position-Following mode to implement a Jog/Increment Handwheel. I'm enabling following in normal mode (Motor[x].MasterCtrl = 1). I'm running into one issues with its behavior. The handwheel control axis normal at 0.1mm and 1mm per revolution, but the mechanism will make abnormal sound at 10mm per revolution, and it is normal at other modes of control.The handwheel has 400 pulses per turn,The controller CK3E,Is there any parameter that can improve this situation? Link to comment Share on other sites More sharing options...
steve.milici Posted May 13, 2020 Share Posted May 13, 2020 This is probably a result of “noise” in the master position being “amplified” by Motor[x].MasterPosSf. You can use the “Motor[x].SlewMasterPosSf” to “filter out” noise. For details see the description of this parameter in the “Power PMAC Software Reference Manual” starting on page 521. Also see the section “Processing the Master Position Signal” in the “Power PMAC User’s Manual” for other suggestions, starting on page 769 (770 electronic). Link to comment Share on other sites More sharing options...
zhangzheng2277 Posted May 14, 2020 Author Share Posted May 14, 2020 This is probably a result of “noise” in the master position being “amplified” by Motor[x].MasterPosSf. You can use the “Motor[x].SlewMasterPosSf” to “filter out” noise. For details see the description of this parameter in the “Power PMAC Software Reference Manual” starting on page 521. Also see the section “Processing the Master Position Signal” in the “Power PMAC User’s Manual” for other suggestions, starting on page 769 (770 electronic). Thanks for your reply. You're right. I used the "Motor[x].MasterMaxSpeed" and "Motor[x].MasterMaxAccel" to basically solve the problem. Link to comment Share on other sites More sharing options...
Omron Forums Support Posted May 14, 2020 Share Posted May 14, 2020 The feedforward servo gains on the follower motor can end up trying to predict the future behavior of the master encoder, leading to noise. You might try these settings for the follower motor: Motor[x].Servo.Kaff=0 Motor[x].Servo.Kvff=Motor[x].Servo.Kvfb Motor[x].Servo.Kviff=Motor[x].Servo.Kvifb Link to comment Share on other sites More sharing options...
zhangzheng2277 Posted May 16, 2020 Author Share Posted May 16, 2020 The feedforward servo gains on the follower motor can end up trying to predict the future behavior of the master encoder, leading to noise. You might try these settings for the follower motor: Motor[x].Servo.Kaff=0 Motor[x].Servo.Kvff=Motor[x].Servo.Kvfb Motor[x].Servo.Kviff=Motor[x].Servo.Kvifb Thanks Eric,I'll try your method. Link to comment Share on other sites More sharing options...
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