Applying the IMT (green trace) eliminates overshoot (pink trace) due to high integrator gain.
The Eclipse drive's torque response is extremely fast and virtually constant regardless of motor speed. The desired instantaneous torque can be delivered immediately upon demand.
Shown here, even a "high-tech" sinewave drive has difficulty producing torque as quickly as necessary for optimal performance, especially when running at speed.
This scope shot shows the commanded velocity (top: 3000RPM/div), tracking accuracy (center: 2 degrees/div) and the actual torque used (bottom: 25% of max torque/div) without the RAS engaged. Notice that the torque required during this move has significant "chatter". With 200ms of dwell between moves, reciprocating this move required 95% of the motor’s RMS capability.
The effect of the RAS on the same move’s tracking accuracy and torque usage is dramatic. Notice the freedom from "torque chatter" when the RAS is engaged—this is one reason why the RAS makes motion so quiet. Also, the RMS load on the motor was reduced by 37%!
Here’s a typical way you might use the Event Strip Charts. Let’s say you have an axis that has been working well, but suddenly develops a large tracking error. A sudden spike in tracking error can be confusing. But a glance at the Event Strip Charts shows that the spike starts shortly after the drive goes into voltage saturation. This points to a power supply problem.
Sample Torque/Speed curve generated by Teknic's proprietary simulation tools.
APS software is a convenient tool for system configuration, operation and troubleshooting.
The APS Script Development Interface provides a simple interface for programming sophisticated motion sequences.
Here’s a typical way you might use the Event Strip Charts. Let’s say you have an axis that has been working well, but suddenly develops a large tracking error. A sudden spike in tracking error can be confusing. But a glance at the Event Strip Charts shows that the spike starts shortly after the drive goes into voltage saturation. This points to a power supply problem.
The IEX-808 component provides 8-in/8-out I/O expansion for only $6 per I/O point.
