I have a Kinetix 300 servo drive controlling an MPS servo motor coupled to a linear actuator. I need to move the actuator forward until it contacts an object and then hold the object in place while other equipment performs some work.
For the first part, I plan to give a velocity command and then when the drive current spikes (indicating object contact made), I plan to issue a current command to maintain a certain amount of force on the object.
The problem is that I've never used a current command with this drive (ReferenceSource = 0, Current) and I cannot find any technotes or examples regarding how to do it. My main concern is that if giving a torque command, I want to somehow limit velocity so that if something breaks free, the servo doesn't "squeal its tires" trying to achieve the current setting.
Thoughts?
For the first part, I plan to give a velocity command and then when the drive current spikes (indicating object contact made), I plan to issue a current command to maintain a certain amount of force on the object.
The problem is that I've never used a current command with this drive (ReferenceSource = 0, Current) and I cannot find any technotes or examples regarding how to do it. My main concern is that if giving a torque command, I want to somehow limit velocity so that if something breaks free, the servo doesn't "squeal its tires" trying to achieve the current setting.
Thoughts?