Mophead (Customer) asked a question.

September 17, 2021 at 5:46 PM
Is it possible to change the speed on a sureservo2 Pr move while it is running without invoking a second Pr register.

I am using a Position command in Pr mode to run an absolute point to point command.

I would like to slow the speed in the middle of the cycle (using a timer) to write a new speed to the Pr register. (P5.061 in this case)

I have written the code to write the new speed and that is working. I even cycled the Pr trigger but the speed does not change from the original speed.

I can pause the motion and the new speed will be in effect when it restarts, but i don't want to stop the motion to change the speed.

  • 4 answers
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  • ADC Community_02 (Automationdirect.com)

    @Mophead (Customer)​ This can be done, but you will need to invoke a 2nd PR Path. Easiest is to set up Events:

    Event 1 = move to xxx position at fast speed (xxx = absolute position)

    Event 2 = move to xxx position at slow speed (same target position)

     

    You can alternately trigger these Events multiple times and the move will change speed each Event.

     

    Our motion management team wrote up a quick step-by-step whitepaper on how to do it. Attached.

    Expand Post
    • SureServo2 Two-Speed Move using Events
    Selected as Best

  • PouchesInc (Customer)

    Have you tried simply activating a different PR register while in the current move? I thought I saw somewhere that the new servos allowed transitioning from one PR move into a second while in motion and without completing the original move. You could try setting the second PR register data to the same position as the first, but with a different velocity for that move. You may have to turn on a setting somewhere to interrupt previous PR moves, or possibly activate that specific motion mode. Im not sure but I swear I read about that capability at some point.

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    • Mophead (Customer)

      I was hoping to avoid the extra programming of splitting up the move and writing that data to the drive.
      It looks like this is going to be the only way to do it.

      Thanks

  • ADC Community_02 (Automationdirect.com)

    @Mophead (Customer)​ This can be done, but you will need to invoke a 2nd PR Path. Easiest is to set up Events:

    Event 1 = move to xxx position at fast speed (xxx = absolute position)

    Event 2 = move to xxx position at slow speed (same target position)

     

    You can alternately trigger these Events multiple times and the move will change speed each Event.

     

    Our motion management team wrote up a quick step-by-step whitepaper on how to do it. Attached.

    Expand Post
    • SureServo2 Two-Speed Move using Events
    Selected as Best

 

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