11/21/2011 4:15 PM | |
Posts: 5225 Rating: (1193) |
Marko Bursic, I can not help but wonder if your 1st instinct was not right. -------- tigger := not trigger distance := abs_position_ask - abs_position_read if trigger == 1 then MC_MoveRelative(distance) //alternating trigger if trigger == 0 then MC_MoveRelative(distance) --------- The position as <Axis name>.MotionStatus.Position is not important. It can however be kept up to date by doing direct active homing. The automatic software limits should be disabled though and be writen in code instead. Would this simple method not work? |
11/21/2011 6:04 PM | |
Posts: 5225 Rating: (1193) |
There is something we overlooked - if we do use the trajectory planner. In this MATH EXPLAINED LINK the trajectory is not what we use in S7-1200. Setting up motion in the S7-1200, there is a minimum speed to reach.. not zero as in the trajectory math as above. See the JPG for a picture view of the difference. The math function will have to be rewritten or the minimum speed should be very low. ::UPDATE:: Did not see previous posting before posting this note. Will answer previous post soon. |
Last edited by: William B. at: 11/21/2011 6:07 PMupdate note |
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11/24/2011 4:31 PM | |
Joined: 9/8/2009 Last visit: 7/17/2023 Posts: 1410 Rating: (153) |
I have made a PID regulator, Traj. planner and simulator. All blocks were tested in PLCSIM (S7-300). The best result showed the use of traj. planner.position ->P-regulator with input limitation + planner.velocity as feedforward. I attached source blocksin SCL Attachment00000001.zip (706 Downloads) |
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