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About MartinK

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  • Country Czech Republic
  1. Kinetix 6000 PID controlled speed

    Ok I've solved it by adding a "filter" but it seams like a crude solution. Surely there is a more, for the lack of a better word, "elegant" solution.  
  2. Hello everyone, I have a Kinetix 6000 CIP drive (unwind) and I need to control its speed by a PID controller. I have everything working except the MCD instruction doesn't pick up on the PID output value change. It changes the JOG speed, which I use to control the unwind, if I set the speed manually, which is slow. The PID changes the speed almost continuously. Any suggestions are welcome. This is how I'm attempting to control the speed: A1_r_JogSpeed = PID output value   Thank you    
  3. Hi, I'm fairly new to motion applications and I have an interesting (to me) problem to solve. I'm using Kinetix 5700 with MPL motors to drive a pick&place carousel and a conveyor belt. I have a virtual master that driver the carousel in 1:10 ratio. The virtual master also drives the conveyor belt, the ratio is given by the carousel diameter and the conveyor driving cylinder diameter +  2x the belt thickness. And I'm using MAJ to drive the master and the MAG instruction to drive the carousel and the conveyor. This all works well. BUT: the carousel does not pick the product in the same place every time. That creates irregular gaps, or pitch, between the product on the conveyor which causes some issues down the line. Is there a way how to superimpose a value to the conveyor axis to ensure the pitch is regular at all times. Something like the ADDAX instruction it Trio motion controller for example? I'd want to have a sensor that detects the edge of the product and compares he encoder value to an expected value and slows downs or speeds up the conveyor accordingly. Thanks a milion.
  4. Well I see what you're saying. Yes if I adjust the virtual master every axis will slow down according to its gearing ratio, that however, doesn't guarantee that the lave axis will slow down under the safe limit and therefore I'm still running the chance that the machine will stop. That is, of course, the safety compliant solution and that's also what will happen now. The idea to limit the speed comes from this presentation I found the other day. I've tried it with JOG command and it works. As I'm writing this reply I'm realizing that I could actually work-out the biggest gear ratio and if I lower the master enough to drop under the safe speed limit of the fastest axis I'll achieve what I need.... I'll try that.... Thanks
  5. Hello there, I am using a Kinetix 5700 drives to control bunch of axis. HW used : 5069-L320ERMS2 GurdsLogix, 2198-S086-ERS4 Servo Drive with MPM-B2152M-M motor and the 843ES-SIP12BA6 safety encoder. All is working fine except I can't figure out how to dynamically change an axis velocity  controlled by a MAG instruction. I have a virtual master axis controlling the velocity and each physical axis is controlled by a MAG instruction with a gear ratio. In my safety program I have SFX and SLS function block used to determine the safe speed limit. The  SLSLimit output of the SLS function block is linked to a SS1 Request of my servo drive. This causes the axis to stop when safe speed limit acceded.  What I'd like to be able to do is to dynamically change velocity (limit it to safe speed if SLS instruction is active) of each axis without having to change the gearing ratios and thus avoid the SS1 safe stop action.  I know how to do that using JOG or MOVE but is it even possible to do that using the MAG instruction? Regards Martin