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

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

7 years 1 month ago #29531470 by stenberg77
i like to use close loop position mode but start torque like in torque mode was created 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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7 years 1 month ago #29531480 by niko
Replied by niko on topic i like to use close loop position mode but start torque like in torque mode
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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7 years 1 month ago #29531484 by stenberg77
Replied by stenberg77 on topic i like to use close loop position mode but start torque like in torque mode
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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7 years 1 month ago #29531487 by niko
Replied by niko on topic i like to use close loop position mode but start torque like in torque mode
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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7 years 1 month ago #29531489 by stenberg77
Replied by stenberg77 on topic i like to use close loop position mode but start torque like in torque mode
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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7 years 1 month ago #29531490 by niko
Replied by niko on topic i like to use close loop position mode but start torque like in torque mode
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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  1. Forum
  3. Roboteq Motor Controllers
  5. Controller Configuration & Operation
  7. i like to use close loop position mode but start torque like in torque mode
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