bprall

This A position issue seems to have been that the base NC16 files have the Positions ordered as X,Z,Y,B,C in the P assignments so I add A initial as P105 but the NC16 is looking at P103 for the 4th position so need to move the Aposition to P103.

I adjusted the info in the PowerPmacNC.ini to have 4 motors with X,Y,Z,A and assigned the Motors to 1,2,3,5. I also set up the coordinate system for 5->A What I found when going through the PLC for NC16 is that the spindle based commands are a mix of SpindleAxis variable and a ton of Motor 4 specific commands making it tough to use Motor 4 without a lot of recoding and checking. I added in the commands for Motor 5 and have almost got it working. Currently I see that the R position displayed is not mapping to the right value but the DTG value is correct.

Seems like it must have something to do with the Spindle being set on Motor 4. I moved the motor over to Motor 5 and at least can turn it on in the terminal.

So I am trying to add a rotation stage to an almost straight download NC16 Project with 3 linear axis. When I go through the motor setup Test and Set it can activate the Motor seen by looking at PWM amplifier display but the Terminal cannot and neither will the tune tools (as they are sending terminal commands). This makes me think I missed something simple I have to add to the PLC.

To Update this based on work with Support. I have found that there is some non obvious setting that is messing up both the Automatic and Manual Test and Set box for this combination of amplifier and controller when using quad encoder feedback. The 6 set voltage test passes but the current loop will not work. If you go and manual tune the current loop then do the 6 step current test, the motors move properly to where they are supposed to go (verified by watching the encoder positions and the hall sensors during the process) but the software is trying to read the encoder positions from somewhere different and just reads out essentially 0 all the time for the position. This is likely also the problem with the current loop test as it tries to move the stage to a position and I think it is not seeing the motion so fails the test out.

Ok, I will. The current Loop test does not generate a graph at all in the Motor setup area. When the project is load the Tune tool will not open to check in that window.

So I have 2 CK3A-G305L hooked up to 120 VAC power. This sets the output levels to 110 VAC with 5 Amps according to the data on the side of the drives. When using PowerPmac and loading the drive type from the data it lists the max input at 240 AC with 5 RMS Amps Continuous and 10 RMS Instantaneous for 2 Seconds. For the Maximum ADC Current the value appears o be 15.737 amps, 4 bit header, 16 bit resolution. It also lets me put in a value for the Input Voltage which I have set at 120 but it lists VDC which this is not. Both of my motors have gotten through voltage 6 step test and the phase/UVW plots look good but they do not really seem to do much on the Tune Current Loop. It seems like the current limits are being set to low where I get an ADC reading allowed of 1886 bits which using the values above for 15.7 amp range and 16 bits is about 0.45 amps which is quite a bit lower than the 1.7 max continuous amps allowed for the motor and maybe not enough to get the motors moving. What are the proper settings for these parameters?

For the first motor I had a similar model (different travel length) working with a powerbrick this summer so I will compare the motor configuration files to look for differences.

I am trying to setup two motors on these PWM drivers using the AX1313N. Neither motor type seems to be able to be configured by the wizard. The wizard does a terrible time with the Phase scaling calculation and seems to not use the brake properly. First motor is a linear motor with 3 cycles in 2 mm of travel with a linear encoder with 0.0001 mm resolution. It is a 3->1 UVW transition for the hall sensors. I hence set -170.6667 for AbsPhasePosSf. PhasePosSf is found to be about 0.0019999. This gives me good plots of UVW vs phase position when hand pushing the motor. This these settings it can get through the voltage 6 step test but fails out on the current loop. I know this motor works fine as I ran it with an ACS controller this morning to verify proper operation. Second motor is a rotary motor with 16 poles per rotation and 40,000 encoder counts. Also 3->1 UVW transition. PhasePosSf is on the order of 1.599e-5 to provide approximately close match between the phase cycles and the UVW when manually moving the motor. I will note that the units for this position are in REV compared to mm for the other motors and I have to use 4 million user units to get the proper alignment between revs and physical motion of the motor. This motor refuses to go through the 6 voltage step test. I have check that the motor resistances are correct and not shorted or broken.

Continuing on the motor setup another problem seems to have occurred. I got through the Current Sensor Direction test. Then I got through the 6 position test. Then I went to the current loop test. It failed this test with the Amplifier throwing an AC (short circuit error). Now the 6 position test fails with a checking the command and measured correlation currents. Either Motor offset setting does not match the response from the amplifier or motor lead U or W disconnected. Nothing was changed in the leads from before running the 3rd setup test type. I checked the pin to pin resistance on the motor and those seem to match spec ~1.5 Ohm I noticed poor usage of the brake during this testing so I have moved the Motor.brakebit to a different bit and manual set the real brake bit to disengage the break.

The problem was that bit 10 for the Gpio on a AX1313N is not an output bit. It is an input bit. It also does not match pin 10 on the connector. So the proper settings are for pin 10 on the GPIO connector is Motor[3].BrakeOutBit = 16 This allows me terminal control of the brake and I can here it click off and then on when doing terminal commands so I know it is functioning properly before I move along with the rest of the motor setup for the Ck3A-G3. Thanks Brad

I find it confusing that the motor setup wizard does not have any options for break setup without using the terminal. I need to be able to configure the break and disengage it to do encoder direction checking and anything energizing the motor for setup but it does not have a spot to enter the info like in the hardware interface section which seems the obvious spot. So I have a CK3M with a AX1313N as Gate3[1] (Gate3[0] is a AX1515N) with the brake for Motor 3 wired to GPIO 10. I have set the following in the terminal and then saved them to the project: Motor[3].pBrakeOut = CK3WAX[1].GpioData[0].a Motor[3].BrakeOutBit = 10 How to I test this is working? As when I use the commands that normally change these values this one does not seem to change.

Thanks This seems to have remapped the variables. I notice that Motor 3 is linked to encoder table 5 still the encoder table is not reorder. Likely this will need to be sorted in the coordinate system.

I have a CK3M system with 2 4-channel drive controllers on it. I am using the first 2 channels on each to run motors 1,2 and 3,4 in those groups but the system assigns the servo capture for the limit flags and such to the 3 and 4 channels on the first controller for encoder elements. I can redirect some of them in the hardware interface but the ones linked to the encoder seem stuck. In the end these motors are X(1),Y(2),Z(3) and R(4) for an NC16 so should I just number the 3 as Motor 5 and 4 as Motor 6 and then do the axis assignment somewhere else.

Is there somewhere in the documentation which can tell me how to set up a True DAC output on a PowerBrick or AX1515N as a Motor channel. It is only referenced 3 times in the PowerBrick manual and not at all in the IDE manual.