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cannot adjust motor speed
#1
I started to learn Delta Tau recently. I have a CK3E and two R88D servo systems. i am able to run the two motors through CK3E. But I have the problem to get them to run faster. Whatever I changed the command F, like F50, F200, F1000, F10000, it looks like the speed of the motor is the same.

Here is the setting in global definitions.pmh
Motor[1].FatalFeLimit=0;
Motor[1].AbortTa=-0.1;
Motor[1].AbortTs=0;
Motor[1].MaxSpeed=50000;
Motor[1].JogTa=-0.1;
Motor[1].JogTs=-1;
Motor[1].JogSpeed=1000;
Motor[1].HomeVel=1000;

Coord[1].Tm=100;
Coord[1].FeedTime=60000;
Coord[1].MaxFeedRate=5000;
Coord[1].Td=-0.1;
Coord[1].Ta=-0.1;
Coord[1].Ts=-1;

Here is the program in Motion Programs.
I just tried run motor 1.
undefine all;
&1; //Select C.S. #1
#1->131072X; //Assign motor 1 to X axis w/131072 counts per user unit
#2->1048576Y; // Assign motor 2 to Y axis w/10000 counts per user unit


OPEN PROG 1

INC; //increamental position programming mode
TA80; //800 ms acceleration time
TS30; //300 ms s-curve time
LINEAR; //Linear move mode

while(1<2)
{
TA80;
TS30;
// TM300; //3000ms move time before deceleration
//Total move time is TM+TA=3800msclose
// frax(x,y);
F1000;
// X20 Y1;
x20;
DWELL2000;
// frax(x,y);
F2000;
// X-20 Y-1;
x-20;

DWELL2000;
}
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#2
Don't forget about Motor[2].MaxSpeed....etc.
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#3
You will also want to check that Motor[*].InvAmax is set according to what your motor/drive is capable of.
If it is set at default value, likely that is limiting your acceleration, not your TA statements.
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#4
(02-03-2020, 08:07 PM)DaveBarnett Wrote: You will also want to check that Motor[*].InvAmax is set according to what your motor/drive is capable of.
If it is set at default value, likely that is limiting your acceleration, not your TA statements.
thank you Dave, this works.
another question, how can i reset the fault on servo drive through PowerPMAC?

Thanks,
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#5
It depends.

In general, when PMAC tries to enable a motor, it will try to automatically clear any faults. If the fault was momentary and has passed (following error getting too high, for instance), then just issuing another command to the motor (such as "#1J/") would clear the fault and also execute the command. If the cause of it is still true (such as an encoder cable is unplugged), then PMAC will try and fail to clear it because the underlying source must be addressed first.
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