aoligei

Thanks Steve I am currently using the system servo algorithm in CST mode. The motor configuration steps are completely in accordance with the manual and the generated files. However, when I complete the configuration, activate ethercat and click jog, an error exceeding the fatal error limit will still occur. No matter Even if I add a motion program, even the motor cannot return to zero. Is it a hardware problem or a problem with my operation method? This problem will not occur in position mode and speed mode. Thank you for your guidance. Sys.WpKey = $AAAAAAAA Motor[1].pAmpEnable = Slave_1001_CDHD_1001_6040_0_ControlWord.a Motor[1].AmpEnableBit = 0 Motor[1].pLimits = 0 Motor[1].pDac = Slave_1001_CDHD_1001_6071_0_Targettorque.a EncTable[1].pEnc = Slave_1001_CDHD_1001_6064_0_Positionactualvalue.a EncTable[1].pEnc1 = Sys.pushm EncTable[1].ScaleFactor = 1 EncTable[1].Type = 1 EncTable[2].Type = 0 Motor[1].pEnc = EncTable[1].a Motor[1].pEnc2 = EncTable[1].a Motor[1].pAmpFault = Slave_1001_CDHD_1001_6041_0_StatusWord.a Motor[1].AmpFaultBit = 3 Motor[1].AmpFaultLevel = 3 Motor[1].MaxDac = 1000 Motor[1].DacShift = 16 Motor[1].ctrl = Sys.servoctrl Motor[1].ServoCtrl = 1 Sys.WpKey = $0

No matter how I modify the code I always encounter errors that exceed the maximum following error, even using your company's lecture code, whether in CPT or CST mode, it drives me crazy, even if I write a very simple instruction, and Including position limiting, it still exceeds the maximum following error. I can't even use my motion program. It will cause an amplifier failure error during the tuning process. What should I do? Thanks Steve

Thanks Steve The speech code of your company that I am using now is in CST mode, but an error of exceeding the maximum following error occurred. You said last time that I can create servo algorithms for all modes. I now want to use custom ones in CSP mode. Servo algorithm, I would like to ask if the operation I demonstrated above is correct. Modify it in .c and .h, or my servo algorithm is wrong and causes the motor to report an error.

Thanks Steve, the return0.0 at the end of the program is the setting when the system is in open loop mode. I would like to ask if this has any impact? And when I used the servo algorithm in your company's lectures and teachings, it also showed that the maximum following error limit was exceeded. I followed what you said and the ether cat setting was not in the .pmh file, but an error still occurred. Can you continue to give me some advice? Thank you so much. Below is the code I used for your company's presentation.Is there anything else I want to continue revising? usrcode.c /*For more information see notes.txt in the Documentation folder */ #include "usrcode.h" #define _PPScriptMode_ // for enum mode, replace this with #define _EnumMode_ #include "../Include/pp_proj.h" extern struct SHM *pshm; // Pointer to shared memory extern volatile unsigned *piom; // Pointer to I/O memory extern void *pushm; // Pointer to user memory void MyPhaseAlg(struct MotorData *Mptr) { int PresentEnc, PhaseTableOffset; float *SineTable; double DeltaEnc, PhasePos, IqVolts, IaVolts, IbVolts; PresentEnc = *Mptr->pPhaseEnc; // Read new rotor position DeltaEnc = (double) (PresentEnc - Mptr->PrevPhaseEnc); // Compute change and convert to floating-point Mptr->PrevPhaseEnc = PresentEnc; // Store new rotor position for next cycle PhasePos = Mptr->PhasePos + Mptr->PhasePosSf * DeltaEnc; // Scale change to sine table increments and accumulate if (PhasePos < 0.0) PhasePos +=2048.0 ; // Negative rollover? else if (PhasePos >=2048.0 ) PhasePos -=2048.0 ; // Positive rollover? PhaseTableOffset = (int) PhasePos; // Table entry index Mptr->PhasePos = PhasePos; // Store in structure for next cycle IqVolts = Mptr->IqCmd; // Get torque (quadrature) command from servo output SineTable = Mptr->pVoltSineTable; // Start address of lookup table IaVolts = IqVolts * SineTable[(PhaseTableOffset + 512) & 2047]; // Compute Phase A command IbVolts = IqVolts * SineTable[(PhaseTableOffset + Mptr->PhaseOffset + 512) & 2047]; // Compute Phase B command Mptr->pDac[0] = ((int) (IaVolts * 65536)); // Scale, fix, and output Phase A Mptr->pDac[1] = ((int) (IbVolts * 65536)); // Scale, fix, and output Phase B } double MyServoAlg(struct MotorData *Mptr) { double ctrl_effort; if (Mptr->ClosedLoop) { // Servo active in closed loop? ctrl_effort = Mptr->Servo.Kp * Mptr->PosError - Mptr->Servo.Kvfb * Mptr->ActVel; // PD terms Mptr->Servo.Integrator += Mptr->PosError * Mptr->Servo.Ki; // I term ctrl_effort += Mptr->Servo.Integrator; // Combine return ctrl_effort; // Return value for automatic handling } else { // Open loop mode Mptr->Servo.Integrator = 0.0; // Clear integrator return 0.0; //} Zero output } void CaptCompISR(void) { unsigned *pUnsigned = pushm; *pUnsigned = *pUnsigned + 1; } double GetLocal(struct LocalData *Ldata, int m) { return *(Ldata->L + Ldata->Lindex + m); } void SetLocal(struct LocalData *Ldata, int m, double value) { *(Ldata->L + Ldata->Lindex + m) = value; } double *GetLocalPtr(struct LocalData *Ldata, int m) { return (Ldata->L + Ldata->Lindex + m); } double CfromScript(double cfrom_type, double arg2, double arg3, double arg4, double arg5, double arg6, double arg7, struct LocalData *Ldata) { int icfrom_type = (int)cfrom_type; double *C, *D, *L, *R, rtn; // C, D, R - only needed if doing Kinematics C = GetCVarPtr(Ldata); // Only needed if doing Kinematics D = GetDVarPtr(Ldata); // Only needed if doing Kinematics L = GetLVarPtr(Ldata); // Only needed if using Ldata or Kinematics R = GetRVarPtr(Ldata); // Only needed if doing Kinematics rtn = -1.0; return rtn; }

I would like to ask about the user-defined algorithm that I also wrote in usrcode.c, but whenever I enable the motor, an error message appears indicating that the maximum following error limit has been exceeded. Can you share your algorithm source code for me to learn from? Thanks.

I set it up like you said, but the movement of the motor is something I can't understand, the speed of the motor after the enable on the motor is the reciprocating movement, it is reciprocating around the point where the position is 0. My understanding in this is that the motor can't move properly according to the value I gave for Motor[1].DacBais due to the presence of the position loop that restricts the movement of the motor. When running the motion programme, there is no significant change in its speed, is my understanding of Motor[1].DacBais incorrect? This is how I am using it as you said. Motor[1].pDac =ECAT[0].IO[1].Data Motor[1].DacBias = 100

steve The operation of adding my servo algorithm is based on "ASSOCIATING MOTORS WITH USER-WRITTEN SERVO AND PHASE ALGORITHMS" in power PMAC IDE and "Selecting a Servo Algorithm" in power PMAC user manual. Which part of the Ethercat settings are you referring to? All my Ethercat configurations are placed in the motor configuration file (global.pmh). I understand that there are no relevant Ethercat settings in the code of my header file. If there are, please point them out. The user servo algorithm I defined is the position loop P controller. Shouldn't I use it in the drive CSV mode? Doesn't this form a three-loop control system of the position loop in the PMAC + the speed loop and current loop in the driver? How should we understand that the user servo algorithm you mentioned can only be applied in CST mode? Thanks

It is not easy to use the Motor[1].DacBais parameter as you said. I can only try to operate the existing Motor[1].pDac address, but it still cannot modify the set speed. For example, the original The speed of the motion program is 50, but I want to add 10 to the speed offset. How to do this? Below is my code, where is the problem? xx.pmh Sys.WpKey = $AAAAAAAA Motor[1].pAmpEnable = ECAT[0].IO[3].Data.a Motor[1].AmpEnableBit = 0 Motor[1].pLimits = 0 Motor[1].pDac = Sys.Idata[1].a EncTable[1].pEnc = ECAT[0].IO[4099].Data.a EncTable[1].pEnc1 = Sys.pushm EncTable[1].ScaleFactor = 1 EncTable[1].Type = 1 Motor[1].pEnc = EncTable[1].a Motor[1].pEnc2 = EncTable[1].a Motor[1].pAmpFault = ECAT[0].IO[4102].Data.a Motor[1].ctrl =Sys.servoctrl Motor[1].ServoCtrl = 1 plc0.plc open plc0 ECAT[0].IO[1].Data = Sys.Idata[1] + 1000 //target vel close prog1.pmc open prog1 f50 x300 x0 close

Now I want to use the custom servo algorithm of power pmac. After using the ether cat communication motor, After changing the usrcode.c file to compile mode，I added a custom adrc algorithm to usrcode.c. double adrc(struct MotorData *Mptr) { _desvel=(Mptr->DesVel/sh)/1000; _actvel=(Mptr->ActVel/sh)/1000; / _actpos=(Mptr->ActPos - Mptr->HomePos)/1000;/ _poserror=(Mptr->PosError)/1000; //open-loop routine if(Mptr->ClosedLoop) { e1 = (_actpos - z1); z1 = (3*wo*e1 + z2)*sh + z1; z2 = (3*pow(wo,2)*e1 + z3 + b0*_u)*sh + z2; z3 = (pow(wo,3)*e1)*sh + z3; // e1 = Mptr->ActPos - Mptr->DesPos; // z1 = (z2-3*wo*(z1-e1))*sh+z1; // z2 = (z3-3*pow(wo,2)*(z1-e1)+b0*_u)*sh+z2; // z3 = (-pow(wo,3)*(z1-e1))*sh+z3; //PD // _kpp = wc*wc; // _kdd = 2*xi*wc; _u0 = wc*wc*(_poserror) + (2*xi*wc)*(_desvel*switch_control - _actvel); _u = (_u0 - z3 ) / b0; if(_u>1) { _u=1; } if(_u<-1) { _u=-1; }/ uout = (_u*32768)/18/sqrt(2)/1.25; return uout; } else { // Open loop mode z1=_actpos,z2=0,z3=0,e1=0,_u=0,_u0=0,uout=0; return 0.0; // Zero output } } Then the code was added to usrcode.h double adrc(struct MotorData *Mptr); EXPORT_SYMBOL(adrc); Below are my global definitions.pmh Sys.WpKey = $AAAAAAAA GLOBAL z1=0,z2=0,z3=0,e1=0,_u=0,_u0=0,sh=1/8000,uout=0,_actvel=0,_actpos=0,_poserror=0,_desvel=0; GLOBAL wc=60,wo=500,xi=1,b0=3,switch_control=1; Motor[1].pAmpEnable = ECAT[0].IO[3].Data.a Motor[1].AmpEnableBit = 0 Motor[1].pLimits = 0 Motor[1].pDac = ECAT[0].IO[0].Data.a EncTable[1].pEnc = ECAT[0].IO[4099].Data.a EncTable[1].pEnc1 = Sys.pushm EncTable[1].ScaleFactor = 1 EncTable[1].Type = 1 EncTable[2].Type = 0 Motor[1].pEnc = EncTable[1].a Motor[1].pEnc2 = EncTable[1].a Motor[1].pAmpFault = ECAT[0].IO[4102].Data.a Motor[1].AmpFaultBit = 3 Motor[1].AmpFaultLevel = 3 Motor[1].MaxDac = 28000 Motor[1].DacShift = 0 Motor[1].ctrl = UserAlgo.ServoCtrlAddr[1] Motor[1].ServoCtrl = 1 Sys.WpKey = $0 Then I selected the user servo setting as , built and downloaded all the realtime routines and the download was successful, but when I enabled the motor, the motor jumped and reported an error Motor Fetal following error set, as shown below, what is going on? Someone can help me? Thanks

I am using ethercat and the servo drives are in CSV mode, my current motion program (motion.pmc) is as follows. &1 #1->100x open prog1 f 50 x 100 x 0 close This motion program has a speed of 50, now I want to have an offset for the motor speed, say with a veloffset, but I don't want to modify the motion program, so how do I change the motor configuration file or add a plc program? I found a parameter in ethercat called velorityoffset (60B1) but it doesn't work well and I can't change the speed by adding the variable veloffset directly to the address corresponding to Motor[x].pDac (target speed).