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Modes of Operation in Servo Drive | 12 May 2017 | |

Modes of Operation in Servo Drive

Hi,

I am Ashok , I am new to servo drive programming , currently I am using Igh Master to run Kollmorgen drive , I have programed the servo drive PDO and SDO mapping in velocity mode for 100 rpm but the motor keeps fluctuating at different RPM. As I am a fresher I want to know how does the different operating modes work? any detailed description to learn the modes of operation

Thank you

Comments & Answers

jcoleman02 said ...

jcoleman02 |

It could be related to servo tuning.  Did you run the autotuner for the AKD drive?  (If it is a vertical load axis, it would need to be tuned manually.) 

If you have it tuned correctly, maybe it is due to the EtherCAT command.  If you are running Interpolated Position Mode and have not calculated the position setpoints correctly, then you can get some velocity fluctuation as the motor follows the interpolated position profile.  Or velocity fluctuation can occur if the interpolation timing is not set correctly.  You need to match the Interpolation Time (FBUS.SAMPLEPERIOD) with the EtherCAT update rate.  Otherwise, the sampling and interpolation will not be synchronized.  Assuming you are running Interpolated Position mode, look at the section in the AKD EtherCAT manual about the interpolation time.

Matthias.Menning said ...

Matthias.Menning |

Further more if the cycle time is too high you could get jumps in your motion profile, depending on your feed forward setting.

Here the usage of PL.FILTERTIME will add an additional filter to your motion command and smooth the motion.

This filter time should be selected as a multiple of your cycle time (recommendation would be 3 times).

jcoleman02 | Fri, 05/19/2017 - 15:11

Which model drive do you have?
Are you using CANopen or EtherCAT?
Which master controller are you using?
Can you give me a description of the type of motion that you want to control?

Ashok | Mon, 05/22/2017 - 08:51

I am using AKD motion Drive model AKD -P01206-NBCC-E000
I am using EtherCat , IGH master ethercat in ubuntu 14.04

thank you

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Ashok
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