I have a PCI 7332 - UMI 7772 - P70360 Drive - N31HRLG-LEK Motor and encoder.
I am trying to run the motor as accurately as possible but at the moment the accuracy is terrible, see attached gif.
These are the settings I have used for the Danaher drive:
Drive Type: P70360
Motor Type: N31HRLG
Operating Current RMS: 0.81 Amps
Operating Current Peak: 1.15 Amps
Tooth Count: 50
Peak Torque: 3.250 N-m
Rotor Inertia: 1.400 kg-cm²
Mechanical Summary
Distance Units: Revs
Gear Ratio: 1.00000 Motor Revs / User Unit
Load Inertia: 0.1430 kg-cm²
Command Summary
Step Resolution: 4000
Step Input Filter: N/A
Rotational Polarity: Normal
Enable Polarity: Active Open
Accel / Decel: 20.0000 Revs/ s²
High Speed: 2.0000 Revs/ s
Low Speed: 0.5000 Revs/ s
Stop Rate: 100.0000 Revs/ s²
Rate Limit: 100000.0000 Revs/ s²
Velocity Limit: 50.0000 Revs/ s
I/O Summary
Input #1: MoveSelect_ (Active Closed)
Input #2: MoveSelect_ (Active Closed)
Input #3: MoveSelect_ (Active Closed)
Input #4: MoveSelect_ (Active Closed)
Input #5: Jog+ (Active Closed)
Input #6: Jog- (Active Closed)
Input #7: EOT+ (Active Closed)
Input #8: EOT- (Active Closed)
Input #9: Fault Reset (Active Closed)
Output #1: Motor Moving (Active Closed)
Input Debounce Time: 1.000 ms
Bianca
12/09/10 19:23:02 v2.10
2 of 4
X-Smoothness Summary
L1: 2659
L2: 7
Test Speed 1: 0.8900 RPS
M1: 9343
M2: 360
Test Speed 2: 1.7800 RPS
H1: 842
H3: -1227
Test Speed 3: 3.5600 RPS
Advanced Summary
Anti-Resonance: Enabled
Frequency: 17.1 Hz
Dynamic Smoothing: Enabled
Frequency: 54.4 Hz
Multi-Stepping: Disabled
Current Reduction: Enabled
Timeout: 100 ms
Reduction: 50%
Stall Detection: Disabled
I have set the steps per revolution to 4000 and the velocity to 500step/s. The target distance is 2,000steps.
The motor should complete this in approximately 4seconds. Instead it completes the run in approximately 3.2s meaning the average velocity is 625 steps per sec. with spikes at 650 and 375 steps/s
This very bad as we require an accurate motor. I was under the impression that this system would be able to deliver high precision velocities.
I had a look through
http://zone.ni.com/devzone/cda/tut/p/id/2923
but it doesn't refer to 7332 controllers.
Does anyone know how to improve the performance of my system?
Thanks,
Sean
