Greetings, I am in the process of setting up a Servo system which includes an L18ERM-BB1B Controller, two Kinetix 5500 Servo drives (2198-H008-ERS and 2198-H015-ERS), one MPAR linear actuator Servo, and one VPL rotary Servo. While I cannot disclose the specific details of the process, I can provide an overview of the type of motion I aim to achieve. The rotary Servo will be responsible for moving a fixed amount (e.g. 10 degrees) to advance one "slot" on the outer diameter of the wheel it is connected to (consisting of 36 slots). On the other hand, the linear Servo will be used to push an object into the slot before retracting it. Ideally, the sequence would involve the rotary Servo rotating, the pusher pushing, and then repeating the process swiftly. However, in order to optimize efficiency, the coordination between the two Servos is crucial. The rotary should rotate swiftly while the pusher is not in a collision zone, pausing momentarily when necessary. In this setup, the rotary's movement should ideally be continuous to minimize time wastage, although it must still align with the pusher's actions. The design includes a conical tip on the pusher, allowing for overlap in movement between the pusher and the rotary without causing any collisions. While considering the use of a MACP, limitations in the cam profile may necessitate the creation of a virtual master for proper synchronization. Any suggestions or guidance on how to achieve this coordination effectively would be greatly valued.
The MAPC instruction pertains to reciprocating followers on a rotary axis, making it a feasible task. In this process, the rotary axis acts as the master while the linear axis serves as the slave.
As I contemplate the issue at hand, the concept of the rotary being the master while dealing with the cam profile is quite complex to me. When considering that a full rotation on the rotary is from 0 to 360 degrees, with each of the 24 slots representing 15 degrees, it poses a challenge. Setting up the cam profile such that at position 0, the pusher is fully extended within the slot has its complications. Repeating this setup around the rotary would lead to a collision, as the pusher would intersect the slot while the rotary is still revealing it. Exploring the idea of utilizing half-steps (75 points), it becomes evident that the pusher must pause and only proceed after the rotary aligns with the center of a slot (150 points). However, with a standard cam profile, the rotary would already be transitioning to the next slot at this point. This dilemma has led me to seek assistance as I struggle through the complexities of applying cam profiles effectively. It seems that my issue stems from a lack of understanding of the intricacies involved, particularly in relation to executing specific motions. While the motion is vaguely mentioned in the continuous execution mode description, practical examples are lacking. Admitting my ignorance on the subject matter, I am seeking guidance to overcome this obstacle.
Experiment with two virtual axes and observe their movements. Track the trends of both positions. To incorporate mathematical calculations like velocity, acceleration, and deceleration, consider using an MAOC with your rotary axis and setting specific parameters for the triggering of movements. Additionally, you have the option to include speed compensation in the parameters to adjust for changes in speed as the rotary axis extends or retracts.
I recently discovered the MAOC platform and am eager to explore its capabilities further. After setting up virtual axes, I realized I haven't been successful in configuring them effectively. MAOC seems to offer the solution I've been searching for, so I will investigate it further.
It seems like you're designing a very complex system. I believe one of the ways to achieve effective co-ordination between your two servos is indeed through a Master-Slave configuration. Although you mentioned using a MACP, the concept of virtual master will be more apt for your situation. In this, your rotary servo acts as the virtual master providing the control commands to the linear slave (pusher servo). You can benefit from this setup by adjusting the position and speed of the slave based on that of the master, allowing seamless synchronization. Also, by modeling your system and simulating it virtually before implementing, you can fine tune timing and movements for maximum efficiency. Don't forget to take adequate measures for any possible fault conditions in your system to ensure safety.
Given your requirements, it seems like the key to coordinating your Servos would be to implement a multi-threaded control program. This would allow the rotary Servo to continue its motion while the linear Servo is waiting, and vice versa, instead of running these tasks sequentially. On the topic of collision avoidance, utilising sensors or software-based limit switches can help prevent the pusher from advancing into a slot when the rotary is not correctly positioned. As for the virtual master, you might consider using PLC or PAC controllers with multi-axis coordination capabilities, this can simplify the task of synchronizing multiple Servos. Always remember to tune your Servos correctly to get optimal performance. I hope this helps with your endeavor!
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Answer: Answer: The Servo system includes an L18ERM-BB1B Controller, two Kinetix 5500 Servo drives (2198-H008-ERS and 2198-H015-ERS), one MPAR linear actuator Servo, and one VPL rotary Servo.
Answer: Answer: The rotary Servo will be moving a fixed amount to advance one "slot" on the outer diameter of a wheel, while the linear Servo will be used to push an object into the slot before retracting it.
Answer: Answer: The coordination between the two Servos is crucial to optimize efficiency. The rotary should rotate swiftly while the pusher is not in a collision zone, pausing momentarily when necessary.
Answer: Answer: The rotary's movement should ideally be continuous to minimize time wastage, while still aligning with the pusher's actions. Overlap in movement between the pusher and the rotary is enabled by the design of a conical tip on the pusher.
Answer: Answer
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