Thanks for the prompt reply. IÂ’ll try and do a diagram a little bit later. To answer your questions.
1. This is something that IÂ’ve been asked to integrate into our control system. The hydraulic pumps/ valves and the arm have been sourced from different vendors
2. The arm itself sits on a slew so it can spin around and be put into position or stored
3. Each linkage on the arm is controlled by 2 parallel cylinders which limits the moment of the arm by +/-45 degrees. This was done to achieve the rotational speed required. Each arm section is the same but the length of the first arm in the x-y axis changes with the raising and lowering of the arm
4. The actual position of the end of the arm isnÂ’t super important. Just that it moderately track what the operator wants it to do
5. Ramp up, down, abrupt stops are important to manage as they will cause the equipment to shake
To summarize the design without a photo, itÂ’s a 3 linkage cork line stacker with activators like on a king pin on an excavator.
From your comment I take it that I should not bother with trying the motion controls or trying to use them in a situation which they werenÂ’t expressed built for.
I was going to take the position and velocity feedback to calculate the position and movement of the tool and just ensure that it wasnÂ’t travelling too quickly and generally in the direction that the operator wanted it to. Mostly ive just been a little intimidated in trying to do the math required to calculate how each linkage should attempt to move.
In the absence of not using servo control nor requiring precise control of the arm do you have any advice on implementing this in studio 5000?
So far IÂ’ve
1. Written controls to calculate the position and velocity of each arm both relative to the base and to the arm itself
2. Written controls on controlling the hydraulic valves by telling them the speed I want to go and the direction