Hi,
We have a medical labview application, where the user can push or pull a swivel. The swivel is mounted to a motor with a gearhead.
The user turns the swivel to the left and right, and the purpose of the application is that the motor can help or resist the movement of the user.
We have placed strain gauges on the swivel, to measure the torque that the user applies on the swivel.
1. Resistance of movement : The goal is to let the user move the swivel with a constant velocity. The motor must not move by itself, but can only make a passive resistance. We have to adjust the resistance of the motor, according to the torque that the user applies on the swivel.
Using a strain gauge we measure the torque of the user, and send it through a PID loop to control the resistance of the motor, and make the velocity of the movement constant.
2. Helping the movement : Due to the gearhead, the user has to put a lot of torque on the swivel, to rotate the axis.
We now want to measure the torque that the user applies, and then move the motor in the same direction, so that the user doesn’t feel any resistance anymore. This way, we want to compensate the resistance of the gearhead.
The application must be secured, so that a cable break or component failure cannot result in faulty movement of the axis.
We have chosen the Bosch rexroth Ecodrive CS as the motor, but we doubt that the motor drive supports these functionalities. Do we need a combination of a servocard and the Ecodrive?Please advise fo the best hardware for this application.
