Servo Drive for Joint

***

With this kind of the drive for the joint you can specify as many target angles as you like which are selected by the PLC by their number while simulation time.

The number has to be assigned to a word of the PLC. If bit-coded is clicked the position of the least significant bit in word will be used as number. The new target will either be taken over if the bit ‘start/enable’ has got a rising slope or immediately if the check box ‘always 1’ is clicked.

The servo drive will only turn if the bit ‘start/enable’ is waiting or if the check box ‘always 1’ is clicked.

By the bit ‘position reached’ the servo drive will report if it remains under the distance to the target position that you have specified.

The target angle is headed for with the specified maximum turning speed by start- and stop-slopes. The steepness of the slope you do not specify by a time but by the angle after that the drive shall have the maximum speed (while starting) resp. at which angle distance to the target it shall be started braking (while stopping). If you create the slope too small the drive will not be able to stop with control. This is not that different in reality and that is why we did not take great trouble to get rid of this effect.

You can specify the speed as well as the slope of the PLC program by a poke. If you have selected ‘degree’ as unit you will have to poke both sizes in 0,1 degree/s resp. 0,1 degree (e.g. for the speed 20 degree/s you have to transfer 200 into the PLC-word of the poke). If you have selected ‘rad’ as unit you will have to poke in 0,001 rad/s resp. 0,001 rad.

With ‘Shift+Ins’ and ‘Ctrl+Ins’ you can insert new lines in the table of the positions. With ‘Shift+Del’, ‘Ctrl+Del’ and ‘Ctrl+X’ you can delete lines. Take care to modify the target numbers in the PLC if you change the numbering by inserting or deleting positions.

With the button ‘teach’ you can take over the current position of the joint. Adjust this position with the slide controller ‘angle without loosen the axis mother’ on the edit mask of the joint.

You can specify the set position of the hot spot directly by the PLC as well.

Back to the joint