Part four will focus on the force control. The typical scenario is an axis moves to a position, in positioning mode, and then switches to Force mode to control the force applied to an object. Two different control loop structures will be considered, one with a force loop around a position loop and the second a force loop around a current loop.
LIST 5 KEY POINT DELEGATES WILL LEARN:
• Understand the limitations of force loop around the position loop
• Understand the limitations of force loop around the current loop
• Understand how to command arbitrary force trajectories
• Understand how to minimize the bump when transferring between position and force mode.
Tuesday June 1, 2021, starting at 2:00 PM BST