Bit Motor for Joint

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With this kind of drive for the joint you have to adjust a speed in U/min.

There are several possibilities for the selection of the current speed which corresponds in the main with the ones of the linear mover. Take care that the number and the meaning of the bits which are needed for control are changing while selecting the drive (top left in the mask). You can find exacter informations of the different alternatives here.

You can adjust two kinds of slopes: start slope and stop slope. The adjusted time always corresponds to the time that the drive needs to get from zero to the ‘speed normal’ resp. from there to zero. The start slope is always used if the set value speed does not equal zero, otherwise the stop slope is used. That means, if you also adjust a drive from fast to slow the start slope is used, although the motor is going to be slower. The stop slope will only be used if the motor slows down. If there is a motor with integrated brakes in your real machine you shall adjust the stop slope on a very small value. If your real motor has only got one speed you will be able to explicitly modify the braking behaviour in this case by selecting a 2-speed-motor and adjust a 0 for small speeds and adjust the stop slope corresponding to the braking behaviour of your motor. If you use a motor with 2 speeds in reality then you will not have this possibility for lack of parameters, and you have to improve instead. An exception to this are the slopes at the 4/2-way valve. Here the start slope will always be used if the bit is ‘1’ and the stop slope if it is ‘0’. By this you can reproduce differently choked connections of a double effective cylinder.

For all drives you can adjust limitings of the turning angle as well. Doing this you have to decide first whether the limiting angles shall be displayed in degree or in rad. The easiest way to adjust the limiting is to put the joint by the slide controller ‘angle without loosen the axis mother’ into the wanted position and to click the buttons ‘teach min’ or ‘teach max’ then.

Both speeds and the slopes can be changed by the word pokes by the PLC while runtime as well. The speeds are poked in 0,01 U/min the slopes in 0,001 s. Doing this it might be a little annoying that the pokes always turn around the joint - just fade out the pokes.

Ah, if you have adjusted a limiting for a two-speeds-drive you will have to see to it yourself, like in real life, that the drive is switched to slow before. Otherwise your parts of the machine crash into the stop with full power. In TrySim it does not matter but in real life it does!

See also:

Servo drive for joint