AKD Cyclic Position Mode Problem
I am usind AKD 3 Amps Driver with appropiate motor for trajectory tracking. Master and AKD communicates via Canopen line. To track desired trajectory, cyclic position mode is selected. Proper PDO mappings are done.
When sinusoidal trajectory is applied, motor moves as desired. Here is a screenshoot:
However when a constant position command is applied (white line at the bottom of graph), motor startes to turn at constant speed.:
How i can fix this issue.
Comments & Answers
Joerg Muslewski said ...
Sorry for the late response.
If you apply a position command which is different from the current position of the motor, the motor will move until the new target position is reached.
Can you provide us more details, which "mode of operations" (6060h) you are using and what the position values are (CAN-objects), when the problem occurs ?
sbarhe said ...
I am using Cyclic Synchronous Position Mode (Modes of Operation - 0x08)
I am using 2 RPDO and 2 TPDOs. All PDO mappings are set on power-up by master. I would write all the settings which are done via SDOs, but when I clarify the software, I found that RPDOs are asynchronous. I switched these RPDOs to synchronous then problem wiped out.