December 17, 2018, 12:30:56 PM
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 Monitor a continuous turn axis


Author Topic:  Monitor a continuous turn axis  (Read 286 times)

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September 24, 2018, 05:46:17 AM
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Runis86


Hi!

I will be using an external axis Fanuc motor, with continuous turn software, and use it almost lika a "high speed" rotating spindle. I want to monitor this and check that the real time speed is according to the value I put in.

We have set the system up so that 100%=3000 rpm. So if I set the speed to 100 % I would like to monitor in real time that the speed is 3000 rpm plus/minus some rpm's. If the speed is 50%=1500 rpm I want to check that it is 150 rpm and so on.

Preferably I would put this in a BG Logic program to have a constant check that the speed is ok.

Is this possible and do anyone have any suggestion how to do it?

Cheers! /Runis86

Linkback: https://www.robot-forum.com/robotforum/index.php?topic=28551.0

Today at 12:30:56 PM
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September 24, 2018, 06:09:14 AM
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sibrdave


Its been a couple of years since i worked on a continuous turn application but my expectation is that when you install the CT option, it will open some system variables, one being the actual speed. There may even already be a variable for that. When you command the axis to turn, it will go that speed till u tell it to stop, why do u want to continuous monitor? Are u trying to detect external force slowdown? Because disturbance, or error, or torque would probably be more accurate than speed.

September 24, 2018, 06:36:50 AM
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Runis86


Hi sibrdave!

We will use an HMI where we want to display the status of some cell Components and the speed of the robot and the cont.turn.motor is crucial for us. Therefore it would be of interest to monitor it.

The only system variable I found in the manual was $CN_TURN_NO and it was only valid for speeds up to 1071 RPM. Maybe it is not possible for higher RPM's to be monitored in the way I want to.

September 24, 2018, 10:59:23 PM
Reply #3
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sibrdave


My general experience with robots and servo NCS tells me that the info you're looking for is available in a parameter somewhere. If the variable you found doesn't give you all the information, then it's probably not the right variable. I will do some digging to see what I can find out as I've never looked into this question specifically. I will let you know as soon as I come up with something.


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