i like to use close loop position mode but start torque like in torque mode

4 years 9 months ago #29531470 by stenberg77
Would the be possible. I am starting the motor against heavy load so it onlyworksin torque mode. But I need the position control commands.

Is it possible to achive in any way?

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4 years 9 months ago #29531480 by niko
Hello,

What you can do is to have a big value in proportional for the start-up and then using a script to lower it.

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4 years 9 months ago #29531484 by stenberg77
ok,

is it possible to make the controller accept +- tolerance when I use !PR 1 1000 command. So that the controll stops consuming power if it reaches 998. If I turn on I part of PID it also solves the situation but sometimes is to weak. I rather accept +-5 error and only use P and after that power to motor would be zero.

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4 years 9 months ago #29531487 by niko
In closed loop count position if you use PID = 1,0,0 the behaviour is pretty much like that. It stops around 998.

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4 years 9 months ago #29531489 by stenberg77
yes, but since it stays at 998 and continues to drain 12A from our battery when it is still at 998. That is not good. We like it to stay at 998 and not consume the battery.

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4 years 9 months ago #29531490 by niko
True,

in that way you can use a script, with which when motor gets the desired position switch to open loop and set motor command to 0 or apple estop.

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