JeffLowe Posted October 21, 2021 Share Posted October 21, 2021 The servo analyzer can inject noise/swept sine either at the desired position or at the force output nodes. Are these addresses documented? I'd like to add a dither to a valve. Also, is it possible to to inject the swept sign ahead of of the trajectory filter? Link to comment Share on other sites More sharing options...
Omron Forums Support Posted October 22, 2021 Share Posted October 22, 2021 Extra torque or position can be injected into the motor at the following locations. These are typically used as targets for compensation and cam tables. Motor[x].CompDac (torque) Motor[x].CompDesPos (desired position) Motor[x].CompPos (feedback position) Motor[x].CompPos2 (feedback position for velocity calculation) Link to comment Share on other sites More sharing options...
curtwilson Posted November 5, 2021 Share Posted November 5, 2021 To inject a swept sine ahead of the trajectory filter, I would use a motion program. The program would command full-circle moves in a loop, varying the move time each time through the loop. The cross axis for the circle would be a phantom motor. Link to comment Share on other sites More sharing options...
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