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David White

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Posts posted by David White

    Trouble scanning Ethercat IO device

    in Power PMAC

    Posted

    Hi, we've been struggling with a problem for many years.

    We have an Ethercat slave I/O device that won't scan in the current firmware. We use Omron R88D-1SN servo drives, Omron ethercat splitters, various I/O devices, and all scan up fine.

    When we connect this one particular I/O device we suddenly lose all ability to scan the Ethercat network. It doesn't matter how many other devices are in line with it.

    If we do exactly the following procedure we can get it to scan...

    1. Disconnect troublesome device from end of ecat network
    2. Power up PPMAC and other ecat slave devices
    3. Scan EtherCat network (succeeds)
    4. Put Master0 in Diagnosis mode
    5. Plug in troubled device
    6. Toggle master to INIT and back to Pre-Op
    7. Put Master0 back in Configuration Mode
    8. Scan the Ethercat Network
    9. It correctly scans all devices, including the troubled device, identifying the ESI file by Vendor, Product code and Revision Number

    It still will not allow Ecat[0].Enable=1,

    We were successful once or twice, but after saving the configuration and restarting the PPMAC it would not re-enable the Ethercat Master

    On all firmware versions below 2.2.X.X we are able to get the device to work by forcing all slaves to Preop before scanning the Ethercat network.

    The same device also worked fine with the old Etherlabs stack

    We currently have to roll back all PPMAC's (CK3E) back to the older firmware in order to use them.

    I have a bare-bones test setup with only the CK3E Vers. 2.7.0.0, 1 x Omron R88d-1SN servo drive, and the troublesome IO device

    The vendor of the IO device says it works fine with their own proprietary Ethercat master and with other motion controllers, so are not able to help.

    What can we try?

     

    ECAT won't scan...

    in Power PMAC

    Posted

    It sounds like the xml file is incorrect. Have you successfully used that file before? 
    The first thing I’d do is I open the xml file alongside one from another device and look to see if the format looks similar.  I’ve had xml device files which are  formatted completely different and won’t work. I can only assume they were created for a different type of system.
    if the format does look similar to other device files then it may be corrupted. I’d be trying to find another version of the file to compare

    • Thanks 1

    Motor setup dynamically

    in Power PMAC

    Posted

    You can still set up everything using a configuration file in ppmac. You don’t actually have to create the motors in the project, although it’s much more visual if you do.

     Once a machine is configured you can Generate a configuration file (right click on configuration)

    You can have many differing configuration files in the project. They can be imported into a blank project and used to set up a new pmac even if no motors or coordinate systems have been set up in the IDE

     Right clicking on the configuration files allows you to select “check to download” then right click on the configuration heading and select “download selected” into a new controller

     The settings still go down to the new CK3M just the same. They just won’t appear in the IDE. You have to do this each time a project is downloaded if you have any motors or coordinate systems defined in the ide as these will override what’s been downloaded from the cfg file

     If you do have motors set up in the ide, it is possible to right click on the motors heading and upload motors settings from the pmac. This doesn’t create motors in the ide, just uploads the settings so the project matches what’s been previously downloaded. Doesn’t always work if they are very different types of motor hardware though as the ide tends to want to hang on to basic settings that are created within it. 

     You can also upload the coordinate system settings and encoder table into the ide in the same way. They have to be created in the ide to match what is in the pmac but will then upload settings for  that coordinate system from the pmac.

     Things not defined in the ide won’t affect things in the pmac when a project is downloaded.

     So whatever is sent by the cfg file stays unless overwritten buy something defined in the ide.

    Older ide’s had trouble with uploading correctly from the pmac, particularly the encoder conversion table. The newest one seems better

    Hopefully I’ve communicated all that clearly. 

     

     

    • Thanks 2

    FRAX mode with vector & non-vector axes

    in Power PMAC

    Posted

    Not 100% sure of your application, but I guess you’re machining or engraving on the surface of a cylinder???

     The cylinder has a circumference, so you could scale the rotating axis units to match the circumference.

     For arguments say your linear axes have 1000 counts per unit (mm for arguments sake) and your cylinder is 100 mm diameter, then it’s circumference is 100 x Pi = 314.159mm

     If your motor moves it 1 rotation in 100000 counts then you would scale the C axis as 100000/314.159 = 318.31 counts per mm at that diameter

     So

    #1->1000X #2->1000Z #3->318.31C

    Then you can use FRAX(C,X,Z) and any motion program move will be able to use F1000 etc. to specify the feed rate in any combination of those axes.

     It gets a lot more tricky if you are dynamically moving at varying distances from the center of your C axis.

     

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