EXTERNAL AXIS

Hello paulojr,

first check, i think, madas are ok.

do you have some more informations?

- motor typ?
- You're sure, gear ratio are correct?
- Testprogramm?
- "Fusspunktvermessung"?
- do you have the problem with coordinate motion?

to reduce the topspeed axis 7, use this parameter.
p.Exp.:
$VEL_AXIS_MA[7]=3000.0

best wishes

SJX

Maybe de direction of the axis is not right. So the reglator of the axis get more speed to catch the axis setpoint but the position is more move from them.
You can change the resolver sin with cos signal or change the direction in the Software.
If you do this, always break the machanical connection to the Linear slider.

best greetings burlibua

Hello paulojr,

normaly, you enable the coordinate motion with activating the right BASE.
normally, first ext. mech unit, base 17.

Please test:
2 PTP position, only turning axis 7, 100% speed.
Top speed ptp-motion for your unit:
4000 / 125 / 60= 0.5x = about 180 degrees per seconds.
is this True?

2 PTP position, big turn with the robot, small movement with axis 7 20% speed.
start /ends the movements together?
Rotation axis 7 is less, or?

Ola Paulo,

vc ainda tem problemas com a aixo externo?
Qual tipo vc esta usando?
linear ou rotatorio?
algumas parametros na $machine.dat esta ajustado para aixo linear outros para aixo rotatorio????

mandar a $machine.dat e mais informacoes

atè logo

hello

your Motor is a 1FK7081 ?
You have only a gearbox with ratio 125? or also a pinion?
You are using a SBM? (Singel Brake Module on the KSD-Servodrive)

On Axis 1 and 2 you also have the 1FK7081 Motor,so you can use the parameters:

$CURR_MON[7]=9.30000019

Do you really need the high speed?
$VEL_AXIS_MA[7]=4100.0 or 3000.0 is ok?

$LG_PTP[7]=0.200000003 this is very low! try between 0,3 and 0,5

$G_VEL_PTP[7]=5.0 this is too low(you will get error position monitoring),start with 30 until the motor starts vibrating. you can change the value online during movement with varcor

$I_VEL_PTP[7]=40.0 this is too low, for this motor is 150 until 300 ok

$APO_DIS_PTP[7]=500.0 ,, 500 is for linear axis,rotating axis is 90.0

$IN_POS_MA[7]=1.5 ,, 1.5 is for linear axis,rotating axis is 0.1

INT $ASYNC_T1_FAST='B0001' this is not good, the axis can run full speed in T1,this is only for servogun (pinca de solda servomotorizada) :evil1:
'B0000' is ok

If you need any help for the mathematical coupling for external axis, please send a
drawing of the axis.

First try to get the axis running fine.

ptp $axis_act

loop

ptp {e6axis:e1 179}

ptp {e6axis:e1 -179}

endloop

try to get the highest value for G_VEL_PTP[7] without vibrations on the motor,
increase(with VARCOR)during motion until vibration starts, and then decrease the value 20%.