SSD 631 servo drive - programming


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  1. #1
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    Default SSD 631 servo drive - programming

    Hello everyone,

    I wonder if any of You have ever worked with SSD 631 servo drive. This topic is brand new for me, so sorry for silly questions. I'm a student and my task is to create a program, which enables motion of this servo. This should be made in BIAS language in EASYRIDER program. I wanted to make a program, in which the speed will be increasing in specific way. For example firstly speed of 500 rpm will be set, after one minute the speed will be increased to 1000 rpm and then, after another one minute the speed will be increased to 1500 rpm.

    For my first time, I have written such program:

    PROG_START
    0 Actual position 1=0
    1 Acceleration = 3000 rpm/s
    2 Speed = 200 rpm
    3 Position = 50000 INCR
    4 Start axis
    5 Move position, axis no.= 0, target = 0
    6 Wait for "position reached"
    8 Position = 100000 INCR
    9 Speed = 400 rmp
    10 Start axis
    11 Move incremental, axis no.= 0, target = 0
    12 Wait for "position reached"
    14 Position = 1500 INCR
    15 Speed = 600 rmp
    16 Start axis
    17 Move incremental, axis no.= 0, target = 0
    18 Wait for "position reached"
    20 Deceleration = 300 rpm/s
    21 Position = 152000 INCR
    22 Speed = ....... rmp
    23 Start axis
    24 Move incremental, axis no.= 0, target = 0
    25 Wait for "position reached"
    26 End of program, mode 0

    But this programm has a big problem - before every "position reached" servo was stopping, and then, it starts its' movement once again, from zero velocity. I was searching for solutions, but I cannot find any way, to make the speed increase smoothly.

    Have anyone made such thing?

    PS. Sorry for my all mistakes in English, I'm polish student

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  2. #2
    Community Moderator Jim Dawson's Avatar
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    Default Re: SSD 631 servo drive - programming

    I think you want to do something like this. I think you want to start the move then at some positions change the speed. If I understand the manual correctly, this may work.

    PROG_START
    0 Actual position 1=0
    1 Acceleration = 3000 rpm/s
    2 Speed = 200 rpm
    3 Position = 303500 INCR (final position)
    4 Start axis
    5 Move position, axis no.= 0, target = 0
    6 Wait for "position reached"
    8 Position = 100000
    9 Speed = 400 rpm
    10
    11
    12 Wait for "position reached"
    14 Position = 150000
    15 Speed = 600 rpm
    16
    17 Move incremental, axis no.= 0, target = 0
    18 Wait for "position reached"
    20 Deceleration = 300 rpm/s
    21 Position = 151500
    22 Speed = ....... rmp
    23
    24
    25 Wait for "position reached"
    26 End of program, mode 0



  3. #3
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    Default Re: SSD 631 servo drive - programming

    Thank you for your comment. I spent last days in laboratoty and it cames out, that the problem was realy trivial. I have divided program into steps and use another command. Right now the formula looks like this:

    PROG_START
    0 Actual position 1=0
    1 Acceleration = 1500 rpm/s
    2 Speed =500 rpm
    3 Start axis
    4 Move infinite positive; axis no. = 0, target = 0
    5 If actual pos. 1 < 2500000 incr then jump 5
    6 Acceleration = 1500 rpm/s
    7 Speed =1000 rpm
    8 Start axis
    9 Move infinite positive; axis no. = 0, target = 0
    10 If actual pos. 1 < 5000000 incr then jump 10
    11 Acceleration = 1500 rpm/s
    12 Speed =1500 rpm
    13 Start axis
    14 Move infinite positive; axis no. = 0, target = 0
    15 If actual pos. 1 < 7500000 incr then jump 15
    16 Acceleration = 1500 rpm/s
    17 Speed =2000 rpm
    18 Start axis
    19 Move infinite positive; axis no. = 0, target = 0
    20 If actual pos. 1 < 10000000 incr then jump 20
    21 Wait time 10000 ms
    22 Stop axis; mode = 1 a- = 300 rpm/s
    23 End of program, mode 1PROG_START



  4. #4
    Community Moderator Jim Dawson's Avatar
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    Default Re: SSD 631 servo drive - programming

    Happy to hear you figured it out. What you have there makes sense.



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SSD 631 servo drive - programming

SSD 631 servo drive - programming