Hi
I have SM34165D, and I am trying to attach a shaft with holders to rotate them. When I did not attach the shaft, I do not have any issues, but when the shaft is connected to the motor and the motor is trying to rotate it, whole assembly is vibrating back and forward in position mode. But when I run the motor with same assembly under torque mode, it runs smoothly. So, is there a way to assign motor torque in position mode? Or is there a way to use position based control in torque mode? Let me know. Thanks.
The back and forth vibration shows the inertia of the load is more than 10 times the mass of the motor's rotor. The ideal fix is to add a planetary gearhead to decrease the inertia mismatch. You may be able to tune some of it out. The default value for KD is 10000. I would try increasing that by a factor of two. You may also have some improvement by using low Accel/Decel values (ADT=10).
Use the following commands to increase the KD value.
KP=3000
KI=240
KD=20000
F
Note: These values will reset to default on a power cycle, so they need to be downloaded in a program.