I have a hydraulic system that creates a linear force of 15k Lbs. We use a DMC-2143 for force control, with a +10v feedback signal for the force measurement. I need to know were to connect my feedback signal if I�m using Y-Axis for the force control (presently it�s connected to Analog 2). I have the system set to AFY=1 and am using the PAY= 0 to 32768. I�, trying to initiate a force command with the following steps:
AFY=1 Set Y axis to analog feedback.
TLY= 1 Set torque limit to 1 volt (safety).
OP 170 command DO 1,3,5,7 to 1 (Tension solenoid).
PAY=1024
SHY
BGY
I don�t see anything being controlled. Anything I should try differently ?
Galil_AndyH on 11/06/2007 - 10:41
All the commands you are sending are correct. You should be in analog feedback mode, and the PA command should be working.
What are your PID parameters for the Y axis? Make sure these are non-zero values for at least KP and KD.
You should double check that the commands are actually being executed correctly and that you aren't getting any errors.
AF,?; 'should return 1 - If not check TC1, AF command did not set
TL,?; 'should return 1
TTY; 'after BGY should return 1, -1 or some value in between
TEY; 'should not be 0. May be ~600 or so
MG_MOY; 'should return 0
If TTY, TEY and/or MOY return 0, then the motor is off or motion is not being commanded. Check the Stop Code (SC command) to see why the axis is in its current state.
Cesar on 11/07/2007 - 08:31
Thanks, but still have a problem.
on the manual "DMC-21x3 Accessories" states the following, "When using AF command with the -16 version (DB-28040, and I am)the DMC-21x3 controller requires the 16 bit Analog Feedback firmware". How can I find out if I have the correct firmware ?