Hekp setting up new rig

[Parallgma!axIT]

Thanks in advance for any help you guys can give! I am a software developer by trade, tasked with getting a rig working using a viper servomotor and am kind of lost in getting the settings correct.

Went through the manual and tuned the KP and KD to what i thought was correct, motor seems tight and I can get it moving with the software control program I am writing.

The trouble is I am at a loss for getting the setting correct for travel/speed etc. Again, I am an extreme newbie when it comes to this system so bear with me.

These are the settings i am using. KP100 - KD200 - I0 - L1 - J100
Using this the assembly moves along the track no problem in both directions, the trouble is when I try to speed it up, I set J250 and it goes faster, I set J300 and it dies. I know it has to do with a perfect match of all settings but the manual does not go into much detail as to the relationship between all of them (maybe it does to those with experience).

We got a V3.12 viper and the manual that came with it was for 1.6, on-line on the Larkin site I found a manual for 2.01 so a newer manual would be nice.

It is a Viper Servomotor V3.12 with
MOTOR
SM23240E500SV95
500 CPR, single ended Encoder
Latching connector, cable 4'
Viper95 Driver with connectors
Frame Size-Nema23
Constant Torque-50 oz/in – 0.35 N.M
Peak Torque-240 oz/in – 1.7 N.M
Continuous Current-3.4 Amp
Peak Current-15 Amp
Maximum Speed-6500 RPM ±10 % at 60V
Resistance-2.739 ohm
Inductance-2.72 mh
Terminal Voltage-60 VDC


SPS-48-7 Power Supply
AC Input 110/220V ±20% Switch
Frequency Range 50~60 Hz
DC output 48V, 7AMP,350W
Adjustable voltage range

Thank you for any help!!!

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[Larken]

The J setting (step multiplier) isn't meant really to be higher than 10-15. You need to accelerate your incomming step pulse stream to make the machine go fast.
For example,Your step pulse generator should be able to go from 10 steps/sec to 50000 steps/sec.

Also you need to increase the f (feed forward) parameter to achieve fast movement.

Larry