On Tue, 3 Jun 2008, Anders Wallin wrote:
> Date: Tue, 03 Jun 2008 20:10:31 +0300
> From: Anders Wallin <[EMAIL PROTECTED]>
> Reply-To: "Enhanced Machine Controller (EMC)"
> <emc-users@lists.sourceforge.net>
> To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
> Subject: Re: [Emc-users] Torque control M CODE
>
>> Hi
>> Is it possible to make create M code that corresponds to toque of the AC
>> servomotor?
>> Units of M300, for example, will be N*M/Lb*f.
>> At the beginning of program should be place to declare that M300 less
>> than 30lb*f (for example), and if it exceed than program switch to M0
>> program Stop.
>
> if you have torque mode drives or the servo drive can communicate the
> torque to EMC some other way then it's easy to set up a comparator in
> HAL that triggers E-stop on over-torque. The threshold could be set by a
> pyVCP slider/number or perhaps an M-code as you suggest.
>
> AW
Even with bare HBridge type drives, A torque estimate can be derived from the
PID output minus the FF1 term (assuming a properly tuned system).
In any case a low pass filter may be required on the PID output before its
applied to a comparator, as the noise from the derivative term may cause
false triggers.
Peter Wallace
Mesa Electronics
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