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to analog input #1. Assume that the desired force level corresponds to a signal level of
5V and that forward motion increases the tension between the two elements.
The simplest control procedure is to run the motor in the jog mode where the motor runs
continuously at a specified speed. The controller reads the analog signal to determine
the force level and sets the speed of the motor in proportions with the error in the force
level. The flowchart and program is shown below.
DRIVE X MOTOR IN JOG
MODE WITH ZERO INITIAL
SPEED
LOOP
READ THE ANALOG SIGNAL
COMPUTE THE TENSION
ERROR,ER
SET NEW SPEED=100*ER
Instruction
Interpretation
#FORCE
AC 100000
DC 100000
JG 0
BGX
#LOOP
ER=5-@AN[1]
VEL=ER*100
JG VEL
JP#LOOP
EN
Label
Acceleration rate
Deceleration rate
Set jog mode
Start motion
Label
Measure error in force level
Set velocity
Update velocity
Repeat the process
End
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