hugheydarryl
Member
I have always controlled servos in Rockwell motion using position loop. I have an application where one process will push against a servo controlled motor and cause the servo to fight against the push and cause the torque to spike and possibly fault the servo due to position error tolerance from being pushed. I have temporarily countered this by issuing a MSF to the servo ... allowing it to be pushed and then issuing a MSO after it has been pushed. This is working as intended ... but I figure turning off the servo and turning it back on once a minute will not be ideal for the servo drive. I have found a Rockwell document that shows home to torque and this would probably be ideal for part of my application ... but I was wondering if there may be a better way to allow a servo to be pushed a small amount with out turning it off every time.