|Question:||Can the MP2300 control a servo's position with a torque mode amplifier over MechatroLink?|
|Answer:||The MP2300 uses either the MechatrolLink network or an SVA module for servo control. |
The SVA module is designed to work with amplifiers in Speed mode. Although in some cases a torque amplifer may be used, the control algorithm has been optimized to output an analog speed command and close only the position loop with the feedback it receives. Performance will be greatly diminished if the velocity loop is not closed at the amplifier.
With the earlier MP920 or MP930 over MechatrolLink I (NS100) the servo can only be used in position mode.
When using the MP2300 over MechatrolLink II (NS115), new command codes are available to place the servo in position, speed, torque or phase control mode. However, only position and phase modes transfer a position value to the drive. When used in torque mode, the programmer can only specify a torque reference value and a speed limit. No position information is sent. No position loop is closed in the controller. This mode is ideal for web tension control.
MechatrolLink II can command Torque Reference Mode using either 17 or 32 byte mode transfers. However, the Torque Reference can only be monitored in 32 byte mode.
To place a servo in torque mode, set the following registers:
OWxx0C Torque Reference [0.01%]
OWxx0E Speed Limit [% rated speed]
OWxx08 Motion Command
=24: Torque reference Mode
ILxx42 Torque Reference Monitor (32-byte mode only)
(Note that actual feedback position can always be monitored at ILxx16 regardless of mode.)
|Category:||Applications; Network Communications; Programming|
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