rleoni Posted August 31, 2020 Share Posted August 31, 2020 Hello everyone. I'm working on a system (mirror bender) that is composed of two motors, each one with an encoder. The focus of this mirror is given by the relationship between these two motors. Then I created a kinematic to control angle between the motors and the offset from zero position. However is not linear because the mechanics and hysteresis. To compensate this, there is a capacitive sensor (+/- 10 V) monitoring the gap to the mirror. I would like to create an external control to observe the position of the capacitive sensor at the end of eacth the movement and send a new set point to the motors, repeating this process until the final position is within an acceptable error (trial and check the error). Is it possible to implement this type of solution? How can I do? Link to comment Share on other sites More sharing options...
DaveBarnett Posted August 31, 2020 Share Posted August 31, 2020 This type of thing is done all the time with the Pmac and its flexible architecture. There are numerous ways to approach it. Depending on your exact requirements, some ways are better than others. Search for "Cascading Servo Loops" in the Power PMAC User's Manual. Link to comment Share on other sites More sharing options...
rleoni Posted September 2, 2020 Author Share Posted September 2, 2020 Hi Dave, Thank you for your help. I'm implementing cascading servo loops as you mentioned. As soon as I have progress I will post the result. Link to comment Share on other sites More sharing options...
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