Hello everyone,
I wonder if any of You have ever worked with SSD 631 servo drive. This topic is brand new for me, so sorry for silly questions. I'm a student and my task is to create a program, which enables motion of this servo. This should be made in BIAS language in EASYRIDER program. I wanted to make a program, in which the speed will be increasing in specific way. For example firstly speed of 500 rpm will be set, after one minute the speed will be increased to 1000 rpm and then, after another one minute the speed will be increased to 1500 rpm.
For my first time, I have written such program:
PROG_START
0 Actual position 1=0
1 Acceleration = 3000 rpm/s
2 Speed = 200 rpm
3 Position = 50000 INCR
4 Start axis
5 Move position, axis no.= 0, target = 0
6 Wait for "position reached"
8 Position = 100000 INCR
9 Speed = 400 rmp
10 Start axis
11 Move incremental, axis no.= 0, target = 0
12 Wait for "position reached"
14 Position = 1500 INCR
15 Speed = 600 rmp
16 Start axis
17 Move incremental, axis no.= 0, target = 0
18 Wait for "position reached"
20 Deceleration = 300 rpm/s
21 Position = 152000 INCR
22 Speed = ....... rmp
23 Start axis
24 Move incremental, axis no.= 0, target = 0
25 Wait for "position reached"
26 End of program, mode 0
But this programm has a big problem - before every "position reached" servo was stopping, and then, it starts its' movement once again, from zero velocity. I was searching for solutions, but I cannot find any way, to make the speed increase smoothly.
Have anyone made such thing?
PS. Sorry for my all mistakes in English, I'm polish student