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Projects, Designs, and Technical Stuff / Re: Control of 2 CAN Open DS402 motors on a single shaft
« Last post by Simon on Today at 07:16:22 pm »Yes that is about it. If I were to get this to work I would be able to sync more often as I my CAN Open master controller is no longer doing the speed regulation so it does not have to do anything with the data coming out at speed.
The Target_torque is the internal set point of the master speed controller motor. it will transmit on any sync message whatever the motor is doing.
The slave torque helper will basically use this as it's Torque_Demand (which will internally produce a torque_target that I assume will be the same) and so follow along.
The crux will be getting the torque motor to react quickly enough to fool the speed controlled motor into thinking that it has twice the torque or rather that the load is half of what it is as it will not be aware of the second motor. So the speed controlled motor will need to have a slower torque ramp rate than the torque control motor so that whatever torque it uses is quickly matched by the Torque controlled motor so that it does not see the full load. And hopefully this all happens without the two falling ass about face or oscillating.
The Target_torque is the internal set point of the master speed controller motor. it will transmit on any sync message whatever the motor is doing.
The slave torque helper will basically use this as it's Torque_Demand (which will internally produce a torque_target that I assume will be the same) and so follow along.
The crux will be getting the torque motor to react quickly enough to fool the speed controlled motor into thinking that it has twice the torque or rather that the load is half of what it is as it will not be aware of the second motor. So the speed controlled motor will need to have a slower torque ramp rate than the torque control motor so that whatever torque it uses is quickly matched by the Torque controlled motor so that it does not see the full load. And hopefully this all happens without the two falling ass about face or oscillating.