Is it possible to change modes during operation?

9 months 1 week ago #29535231 by PDP
Hi, 

I'm working on a system that needs to run at speed for distances -- tens and hundreds of meters -- but then slow down and move with precision to a destination.
I've been able to get Close Loop Count Position mode to work with some bench tests for position based movement with CAN Open commands. Now I'd like to work with Closed Loop Speed Mode based upon the  belief that I'd be able to run the system in Closed Loop Speed Mode at speed for distances; using external markers for position awareness, then switch the system to Close Loop Position Mode for finer control. 
I considered staying in Position Mode and using relative position instructions, but was attracted to the idea of letting the system run at speed for the inter-stop stretches and concerned about looping the position counters (I'm confident that overflow is handled in the controller for relative position commands)
However, I found that using Closed Loop Speed Mode required very different PID values than Closed Loop Count Position Mode and do not see a way to change PID values with CAN Open. Without being able to change PID settings, changing modes seems like an unworkable design.
May I ask for some perspective and opinions on this matter? Is there an expected design model or paradigm supported by the controller that I should research instead? Or a different way to approach the design challenge?

Many thanks,

pdp

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9 months 1 week ago #29535234 by Athanasios
Hi 
soon the new firmware V2.1 will be released and there different gains are used for position and speed loop. Still you will not be able to change via can open the PID values but you will not need it according to what you describe.

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9 months 1 week ago #29535235 by PDP
Hi Athanasios;

Thanks for your response, that’s very encouraging information. Yes, if there were different PID settings for position and speed control one would not need to set them programmatically. 
Is there an anticipated release date for firmware v 2.1?
Should I explore using a different control mode in the interim?
Thanks again,
pdp

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9 months 6 days ago #29535244 by Athanasios
you can email me at @athanasios.baxevanos@mail.nidec.com and send you a beta version.

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1 month 1 week ago - 1 month 1 week ago #29535454 by intern_beyond
Hello

I'd like to be able to modifie roboteq parameters (and more specifically closed loop parameters) by a code, from an embeded system (an ST nucelo HZ43ZI2 card).

I am looking for the canOpen value equivalent to ^KPG, ^KDG, ^KIG.
I can only find the hexcode in the datasheet.  (expl : KPG hexCode = F0, KIG hexCode = F1 ...).

Is there any way to convert the hexcode into a CanOpen code ?

Thank you

For exemple : I currently have :

/* code
const short cROM          = 0x6060 ;
roboteqcontrol1.SDO_command(3, rbtq_cmds::cROM,0, &variable1) ;
*/

 and that is working. 
This line allows me to modify the mode of operation of my motor on channel 1 during use. 
I'd like to find the value to replace my "????" there :

/* code
const short cKPG          = 0x???? ;
const short cKIG          = 0x???? ;
const short cKDG          = 0x???? ;
*/ 

PS : I am using HDC2460 roboteq card and the firmware Roboteq v2.1 HDC2XXX 11/20/2020
The screen is linked is the KPG part from roboteq controller user manual v2.1, page 347.

 
File Attachment:

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3 weeks 2 days ago #29535466 by Athanasios
HI these commands are not available through CANOPEN in this firmware version.
You can make a script that will change the gains when a value is received at a user variable.

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3 weeks 2 days ago #29535467 by Athanasios
HI these commands are not available through CANOPEN in this firmware version.
You can make a script that will change the gains when a value is received at a user variable.

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