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http://www.naic.edu/~phil/turret/turret.html
Дата изменения: Wed Jan 13 01:38:01 2016
Дата индексирования: Sun Apr 10 02:43:50 2016
Кодировка:
turret (rotary floor in dome)
nov 03
12jan16: turret does not arrive at position. This is a dac zero velocity offset error.
15aug14: Turret does not arrive at position. adjusting the backlash board, see oscillation in spd,torque
27jul12: amman- & whitney report on feed platform rotating floor (.pdf)
03may11: small jerks in turret while rotating
12sep05: replacing 1 section of rolling surface. Tilt sensor measurement.
08may04: turret encoder
11feb04 : turret aToD and signal conditioning.
14jan04: Weigh rotary floor with hydraulic jacks (.pdf)
12nov03: weight distribution on the turret.
history/modification log:
turret schematics (r elias oct96) (.pdf)
drive system
notes,gotchas
Drive system:
The turret drive system consists of:
There are two motors to move the floor: the master and the slave.
The little star computer generates a single velocity command for the floor.
This is sent via a dac and then signal conditioning board to the backlash compensation board
The backlash compensation board then sends the velocity command to the master and slave amps
A small backlash compensation is added to remove backlash in the gears.
As the velocity increases this compensation is slowly removed.
Notes, gotchas:
15aug14: If the turret does not arrive at the requested position..zero velocity offset adjustement:
the dac probably has a dc offset (see 15aug14)
To fix:
run montur
command turret to a position. look at
VelocityCnt
(say 2009)
compute what zero velocity offset this would be for the dac:
zeroVelOffset= VelocityCnt + 100 - 2048. this is the value that should be loaded in the little star
See what value is currently loaded in little star
in vw% window execute tcl:
for {set i 0} {$i < 38} {incr i} {
puts "[pnt tur qpar $i]"
aog delay 10
flush stdout
}
Then on observer2: cd /home/phil/vw/datatk/pnt/ttt/tt
in the shell execute: ttParms
34 zeroVelOff 53 where 53 would be the zero velocity offset
If it is off by more than a count or two
from observer2:
rsh pnt ttTst
21 1
9 34 Value you computed above for zeroVelOffset
10 34 read back into vxWorks
99 quit
The try ttParms again.. you should now see the new zero velocity offset.
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