Jump to content
OMRON Forums

Position Loop tuning plotting data sources


colinleer

Recommended Posts

I'm experimenting with the trajectory pre-filter in the interactive position loop tuning tool. 

I have an encoder on my end effector that is measuring the resonance I am trying to get rid of, and it is plugged into another motor encoder input on the PMAC.

Is it possible to plot this encoder data in the tuning tool graph?

In short, I'm using the tuning tool on Motor 3, but would like to also plot the encoder input from Motor 4. 

Thanks

Link to comment
Share on other sites

  • Replies 1
  • Created
  • Last Reply

Top Posters In This Topic

Popular Days

Top Posters In This Topic

Just “set up” motor #4 to use this encoder and activate the motor. Then motor #4’s position will be a selection from the sources menu in the “plot” application:

Motor[4].pEnc=EncTable[4].a

Motor[4].pEnc2=EncTable[4].a

Motor[4].Ctrl=Sys.ServoCtrl

Motor[x].ServoCtrl = 1

 

This should be enough to see the encoder as position for motor#4 – just don’t “enable” (#4j/) the motor as other settings needed for proper closed loop operation have not been set up.

 

Link to comment
Share on other sites

Join the conversation

You can post now and register later. If you have an account, sign in now to post with your account.

Guest
Reply to this topic...

×   Pasted as rich text.   Paste as plain text instead

  Only 75 emoji are allowed.

×   Your link has been automatically embedded.   Display as a link instead

×   Your previous content has been restored.   Clear editor

×   You cannot paste images directly. Upload or insert images from URL.


×
×
  • Create New...