2012/12/20 Viesturs Lācis <[email protected]<https://mail.google.com/mail/u/0/?view=cm&fs=1&tf=1&[email protected]> >
> I have 7i39LV as servodrives and MotionKing servos that have 8.7A > rated current (now I understand that it is not a good match). 7i39 has > 10A limit for current. I thought that this limit applies to each > motor, but since there is 10A fuse soldered right next to motor power > input on card, it applies also to whole card. Oh, I also thought that it's per motor value. > As I have 2 such motors > attached to each of two 7i39 cards in the machine, I am limiting the > pid output because I do not want to reach limits of the servo drive > and blow the fuse or whatever. I just brought it to error (one of > error LEDs turned on) with max_output = 0.9 and attempts to move only > one motor. > What error does it indicate? Please remind me. > > The Max_output value alone does not tell much, it should be considered > together with output_scale value, which is 1.0 or -1.0 for all joints. > > I just looked to my configs with linear motors, there's no output scale But there are encoder scale (200 per mm), pwmgen scale is 10, and bldc scale is 14400 (i'm not sure where it goes from). Max output is 10. Anyways, when PID gets saturated it indicates that the motor has not enough power or velocity to follow the trajectory. Andrew ------------------------------------------------------------------------------ LogMeIn Rescue: Anywhere, Anytime Remote support for IT. Free Trial Remotely access PCs and mobile devices and provide instant support Improve your efficiency, and focus on delivering more value-add services Discover what IT Professionals Know. Rescue delivers http://p.sf.net/sfu/logmein_12329d2d _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
