I’m having issues keeping constant velocity and tension on my machine using two 5065 motors with 8192 Encoders.
My application moves a roll of film from one reel to another. I’m trying to keep the speed / velocity and tension the same for the entire transfer, regardless of the roll size (could be small roll, medium or very large taking an entire reel space. Here’s a video of the issue:
You will see that at the beginning of the roll, the speed is normal and as the roll transfers to the next it accelerates. The camera captures 5fps (frames per second) at beginning and by the end, it’s at 13fps - quite an increase.
This is the command set I use and it is sent via Arduino / hardware buttons.
Axis 0 is the feed reel and Axis 1 is the take-up reel.
drv0.axis0.controller.config.control_mode = CONTROL_MODE_TORQUE_CONTROL odrv0.axis0.controller.input_torque = 0.1 odrv0.axis0.controller.input_vel = 0 odrv0.axis1.controller.config.input_mode = INPUT_MODE_VEL_RAMP odrv0.axis1.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL odrv0.axis1.controller.config.vel_ramp_rate = 0.1 odrv0.axis1.controller.input_torque = 0 odrv0.axis1.controller.input_vel = -.5
My motor tuning is prob not optimal (never was able to start the GUI) but I suspect that tuning might not be the only answer? Any help or guidance is appreciated.