Omron TJ2-MC64 - PROGRAMMING Programming Manual page 308

Examples and tips
TRIGGER
PRINT "Triggered"
ENDIF
WAIT IDLE
WEND
HALT
The result is given in the figure.
In the example given above, the value of the UNITS parameter is set to
encoder counts. The position of the master axis MPOS AXIS(0) is given in
red. The position increases linearly, because the speed of the master axis is
constant.
The demanded position of the slave axis DPOS AXIS(1) is given in blue.
This graph is a cosine curve. It corresponds to the created CAM table.
The measured speed of the slave axis MSPEED AXIS(1) is given in yellow.
This graph is a sinusoidal curve, because the speed is a derivative of the
position, and the derivative of the cosine is the sine. At high speeds, there
are some ripples.
The green graph is the torque of the motor for the slave axis set with
DRIVE_COMMAND=11 as a percentage of the nominal torque. The torque
is proportional to the acceleration. Because the acceleration is a derivative
of the speed and the speed is sinusoidal curve, the acceleration (and also
the torque) is a cosine curve. There is one peak at the start and another
peak at the stop because there is a discontinuity in the acceleration. There is
also a high frequency oscillation in the torque curve, suggesting a
resonance frequency that can be eliminated using the notch filter settings in
the Sigma-II Servo Driver. The high frequency is reinforced, because it is
also reflected in the speed curve. For more information on notch-filter
settings, refer to the Sigma-II Servo Driver manual.
Troubleshooting with the oscilloscope
When the desired data is captured and recorded into the Table memory
entries, you can use the oscilloscope to visualize this data. This can help
you when you commission and troubleshoot the system. This section gives
an example of how a bug, which is difficult to analyze, can be clearly
explained and solved using the captured data and the oscilloscope.
PROGRAMMING MANUAL
fig. 44
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