David Jan

What if it's between two drivers? Can slave to slave be understood as cross communication between slave stations? The interaction between two slave stations does not go through the master station (PMAC), but only through the Ethercat protocol between the slave stations themselves.

What is the use of slave to slave in PMAC ide? Why is the output in my slave to slave greyed out?

@MoMoWhen I modify the motor mode, I enable it in PMAC, the motor automatically rotates and the speed curve is as shown in the figure, the Slave_1001_bmaXX33xx_1001_60FF_0_TargetVelocity keeps getting bigger, why don't I give any command but the value of the Slave_1001_bmaXX33xx_1001_60FF_0_TargetVelocity changes by itself? Is it because Slave_1001_bmaXX33xx_1001_60FF_0_TargetVelocity.a's address is not secure? Or is it something else?

@MoMoBy observing the target speed corresponding to motor [1]. pdac, it was found that the value remained unchanged and never reached 0 during jogging. Then, I used "motor [1]. pdac=sys. idata [1]. a" to determine whether the speed was transmitted to the PDAC based on the value of sys. idata [1]. The result was that idata changed and the speed was transmitted. So why was the speed given by PMAC not transmitted to the servo drive target speed address? Can I understand that there is a problem with the transmission between PMAC and the Ethercat driver? Because if running normally, the target speed in the corresponding address of the PDAC should have an exact value, so that it can be transmitted to the driver through Ethercat and the motor can move.

Before the speed mode control, I carried out the position mode control, the position mode control motor movement is normal, but after modifying the pointer and ethercat's motor mode to speed mode, after the build is downloaded to the PMAC, the motor doesn't move after the pointing, only the following error is moving, and the following error is moving because I set “Motor[ 1].FatalFeLimit = 0”, and I set “Motor[ 1].FatalFeLimit = 0”, and I set “FatalFeLimit = 0”. 1].FatalFeLimit =0”, if I don't set it, the motor doesn't respond, but when I change to a different brand of motor, it works fine. This has me stumped.

@MoMoWhy did this situation occur? Using the Ethercat protocol for control and the same configuration file, Panasonic's driver works, while Baumuller's driver does not

I use CK3E to control the motor in speed mode, but the motor does not move, only the tracking error changes with my motion command Here is my configuration file Sys.WpKey = $AAAAAAAA Motor[1].pAmpEnable = Slave_1001_6040_0_ControlWord.a Motor[1].AmpEnableBit = 0 Motor[1].pLimits = 0 Motor[1].pDac = Slave_1001_60FF_0_TargetVelocity.a EncTable[1].pEnc = Slave_1001_6064_0_ActualPosition.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_6041_0_StatusWord.a Motor[1].AmpFaultBit = 3 Motor[1].AmpFaultLevel = 3 Motor[1].MaxDac = 28000 Motor[1].DacShift = 0 Motor[1].ctrl = Sys.servoctrl Motor[1].ServoCtrl = 1 Motor[1].FatalFeLimit =0 Motor[1].MaxSpeed = 100 Sys.WpKey = $0 Where is the problem?

The 6060 is set to 10, it's detectable in the PDO and monitored in the motor servo in sync.

If the open loop test is to verify that the encoder reading will follow the torque output, then I would think it would, does this prove that my torque mode profile is okay?

The servo gains aren't set, but I think there's something wrong with my current motor profile because after I build and download the project, I enter the open loop command :#1 out 20 on CMD and the motor spins right after that, shouldn't it be spinning after I enable it? Why is the motor spinning on its own without me enabling it? This is too dangerous, I will add the servo gain parameter to the motor configuration file and then test the open loop.

I think the problem may not be with the MaxDac, I tested it with open loop, after I built and downloaded the whole program, I entered #1 out 20 in CMD and motor 1 spins at 40, how do I find out what the problem is with my torque mode by testing it with open loop?

I've tried open loop torque control mode before and it should work fine, I'll try open loop torque mode again.

Now I want to use torque mode with motors, communication is ecat, controller is CK3E, driver is CDHD, but now after building and downloading, enabling and jog will report an error straight away. The configuration file is as follows Motor_TorqueMode.pmh

Then the only way I can implement a compensating controller is to build the 3-loop PID control successfully and add the compensating controller in a custom servo algorithm by myself. Then isn't the actual position and actual velocity in the plotting function in OMAC based on the values mapped back to the PDO? Wouldn't his communication delay be much different? I think I can live with it if the difference is not too big.

I have now measured the values of 6074,6077,6078 through the monitoring plotting function of the PMAC and they are all around 50, but what is the unit of this value? How can the actual torque and actual current be equal? Do I need to convert the PDO-mapped hexadecimal to 32-bit floating point numbers? After all, some numbers may be floating point numbers, take the actual current for example, if the unit is A, then he is a floating point type, if his unit is mA, then he is an integer type, what do I need to do to realize that the value of the parameter monitored in the PMAC is equal to the value in the motor?