2/14/2016 5:33 PM | |
Joined: 1/29/2006 Last visit: 4/23/2024 Posts: 446 Rating: (64) |
Dear all! I have a application, with 6 servo hydraulic axes on Simotion D 435. The basic work is done, system works OK, user is satisfied. But, I still have one question. I have noticed on trace, that Position controller output has some strange "steps" in time resolution of 20 ms. I do not know, how this steps enter in the system; system cycle clock is set to 4 ms, servo and IPO tasks are also set to 4 ms, Ipo_2 is set to 8 ms. All technology is placed into IPO task, also my complete user program runs in IPOSynchronous task. I must say, that during commissionig there was a problem with acoustic noise in system; therefore I have had to include some filtering in actual position measuring, and also I had to reduce kp in position control of axis, to achive relatively silent moving of axes.... In attachment, I am sending traces of this behaveour. The following error is not very small, but the systems works good enough in spite of that. You will see this 20 ms "steps" on signal, that goes directly to proportional valve, on picture 1 (manipulated value is inverted...). Is it possible, that this 20ms comes from Precontrol? And also: Is it possible, that my problem with noise also comes from this? Thanks in advance! uel123. AttachmentHydraulic axis positioning.pdf (265 Downloads) |
2/15/2016 12:09 AM | |
Posts: 1529 Rating: (202) |
How are you producing your analog output? |
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