I using codesys motion with Parker servo (without brake).
In my application i use mc_moverelative.
When i send new position motor moves.
But when it arrives to the point it stops and does not hold the position. It means that i can easily move shaft by hand
Should i somewere turn it on so motor keep position by torque (current)?
Best regards
Lukasz
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Reading between the lines of what you did not specify, it therefore seems to appear that in the programme, at the end of the movement order, there is an order to remove power and switch off the pulse modulation. if this is the case, it is obvious that the motor then remains free. If the position is to be maintained at the end of the movement, the motor current modulator, which on the PLC side is controlled via the MC_Power method, must not be interrupted.
Another possibility is that in the motor drive settings, the standstill torque current is set very low or zero and without position monitoring. You have to check this via the servo motor drive.
Last edit: Gustavo Antonio Banchetti Brucatori 2024-08-05
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Thank you for your response.
In my application i use ethercat and while work i do not turn off power.
After relative move motor is in standstill.
As you suggest I suppose that problem is in drive setting but i do not see any option about increase
standstill torque.
Below i posted some photos from drive setting manager - PSD Servomanager
Do you see any settings responsible for standstill torque?
thank you
With this kind of motor nominal tourque I can belive that it can be moved very easy. 1,6 Nm is, for example, the torque required for unscrew a small loose cap from a bottle.
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In general, drives have parameter sets to adjust behaviour in such cases: position recovery, adaptation with resistant torque, out-of-position window failure, etc. (Much depends on the type of configuration set for the axis: positioner, speed controller, torque controller, etc.).
I have used that type of drive very little, in only two cases and a long time ago. To tell you what is normal is impossible. I know by reputation they are very simple objects, without too many pretensions and adjustments possible.
Try running traces by monitoring actual position, motor current, torque and following error. These are the most sensible curves to understand what is going on. Maybe by fine tuning the motor tuning, the current controller or the speed controller you will get something closer to what you want.
For example, from DS, the motor has a standstill torque of 3 Nm. Observe with traces whether this is effective: motor current trend.
And afterwards, when you have your own accurate picture of the situation, you can also hear from the product's local support to see if you can steal a few more things from it performance-wise.
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@gepert, When you say "I do not turn off power", are you saying you don't power off the drive, or you don't turn of the MC_POWER function block? I read your statement as you don't kill actual electrical power. MC_POWER should stay enabled.
@Gustavo, not related to problem at all, but when you say 1.6 Nm is only enough torque to unscrew a loose bottle cap, I think that's a bit low. A quick mental math I use is 1 Nm is almost the same force as 1kG applied to a 10cm wrench. So 1.6kG applied to a 10cm wrench is still not a huge force, but more than enough to be felt if trying to turn the shaft by hand.
Last edit: trusty-squire 2024-08-06
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... you say 1.6 Nm is only enough torque to unscrew a loose bottle cap ...
This the the value of torque: from 1,2 Nm to 1,4 Nm that is cosidered acceptable for an old people. 1,6 Nm the torque considered acceptable for general use caps.
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when i tried and moved shaft by hand i hold cover(as on photo) in my fingers.
I was convinced that shaft has key but it there is not key.
So when i turn cover it slide on shaft.
When i take off cover and drive is in standstill, shaft does not move.
So everything works perfectly
Hello,
I using codesys motion with Parker servo (without brake).
In my application i use mc_moverelative.
When i send new position motor moves.
But when it arrives to the point it stops and does not hold the position. It means that i can easily move shaft by hand
Should i somewere turn it on so motor keep position by torque (current)?
Best regards
Lukasz
Reading between the lines of what you did not specify, it therefore seems to appear that in the programme, at the end of the movement order, there is an order to remove power and switch off the pulse modulation. if this is the case, it is obvious that the motor then remains free. If the position is to be maintained at the end of the movement, the motor current modulator, which on the PLC side is controlled via the MC_Power method, must not be interrupted.
Another possibility is that in the motor drive settings, the standstill torque current is set very low or zero and without position monitoring. You have to check this via the servo motor drive.
Last edit: Gustavo Antonio Banchetti Brucatori 2024-08-05
Hello,
Thank you for your response.
In my application i use ethercat and while work i do not turn off power.
After relative move motor is in standstill.
As you suggest I suppose that problem is in drive setting but i do not see any option about increase
standstill torque.
Below i posted some photos from drive setting manager - PSD Servomanager
Do you see any settings responsible for standstill torque?
thank you
With this kind of motor nominal tourque I can belive that it can be moved very easy. 1,6 Nm is, for example, the torque required for unscrew a small loose cap from a bottle.
Ok, it is clear.
But
Is it normal when i move shaft by hand actual position stops?
In general, drives have parameter sets to adjust behaviour in such cases: position recovery, adaptation with resistant torque, out-of-position window failure, etc. (Much depends on the type of configuration set for the axis: positioner, speed controller, torque controller, etc.).
I have used that type of drive very little, in only two cases and a long time ago. To tell you what is normal is impossible. I know by reputation they are very simple objects, without too many pretensions and adjustments possible.
Try running traces by monitoring actual position, motor current, torque and following error. These are the most sensible curves to understand what is going on. Maybe by fine tuning the motor tuning, the current controller or the speed controller you will get something closer to what you want.
For example, from DS, the motor has a standstill torque of 3 Nm. Observe with traces whether this is effective: motor current trend.
And afterwards, when you have your own accurate picture of the situation, you can also hear from the product's local support to see if you can steal a few more things from it performance-wise.
@gepert, When you say "I do not turn off power", are you saying you don't power off the drive, or you don't turn of the MC_POWER function block? I read your statement as you don't kill actual electrical power. MC_POWER should stay enabled.
@Gustavo, not related to problem at all, but when you say 1.6 Nm is only enough torque to unscrew a loose bottle cap, I think that's a bit low. A quick mental math I use is 1 Nm is almost the same force as 1kG applied to a 10cm wrench. So 1.6kG applied to a 10cm wrench is still not a huge force, but more than enough to be felt if trying to turn the shaft by hand.
Last edit: trusty-squire 2024-08-06
This the the value of torque: from 1,2 Nm to 1,4 Nm that is cosidered acceptable for an old people. 1,6 Nm the torque considered acceptable for general use caps.
Gentleman
OMG, I made a huge mistake
when i tried and moved shaft by hand i hold cover(as on photo) in my fingers.
I was convinced that shaft has key but it there is not key.
So when i turn cover it slide on shaft.
When i take off cover and drive is in standstill, shaft does not move.
So everything works perfectly
Last edit: gepert 2024-08-07
Glad to hear it 🙂