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 (\__/) (='.'=) This is Bunny. Copy and paste bunny into your (")_(") signature to help him gain world domination. ------------------------------------------------------------------------- This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2008. http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users