We have a project requiring four servo motors run synchronously, with the ability to adjust the phase angle between motors. The motors will be ramped up and down in velocity (remaining synchronized), but with programmable phase offsets. We will be using AutomationDirect 400W servos, with 10000 pulse per revolution encoders with index. I expect to put the drives in velocity mode. I think it should be possible to do this entirely in HAL, but am having some trouble thinking through just what the logic organization should be.
My mind is stuck on direct digital synthesis methods, where a phase accumulator is incremented at a constant rate. Each motor would have a phase accumulator, with all incremented at the same rate, but with an offset added to phase on each motor. The phase accumulator would be the target position. I will be using a Mesa 7I92 to generate the pwm output for each motor velocity and read the four encoders. Is this a sensible direction, or am I missing something more appropriate? Thanks, -- Ralph ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
