Khal_USL

I think I found the problem. The default Position loop gains were too aggressive (Especially the Velocity feed forward) they were causing a massive jump in the commanded velocity whenever I tried to move the motor. By detuning the position loop I'm getting a better response from the motor and I can control it without any issues at the full speed range.

Hi MoMo, The driver is expecting a 32 bit DINT value for the target velocity and the PDO shows that the value is 32 bit, and the speed limit of 32767 is applied on the PMAC side (No matter what value of JogSpeed I set the maximum the PMAC sends is +-32767). Why do I need to apply the bit shift using the DacShift when both devices are expecting a 32 bit value? The Drive Controller does have a speed limit but the 32767 being sent by the PMAC is less than 0.02% of the set value. There are no settings in the drive controller that would affect what the PMAC is sending. And I can change the scaling on the drive to make the 32767 value match the motor top speed but that means losing fine speed control.

Hi MoMo Thanks again for all your help. Changing DacShift seems to have fixed the issue with the excessive jump error I was getting. I have a question regarding speed scaling, after setting the DacShift to 16 the target velocity is now limited to +-32767 mu/sec, which is very low for the scaling used in the drive controller. Is there a way to change the scaling on the PMAC side or is it better to change it on the Drive controller side? Also while looking at the Software Refrernce Manual I've seen a couple of elements that need to be set to ECAT addresses (pAccOut and pVelOut) Is there a list of all the parameters that need to be set for an EtherCAT motor to work in CSV?

Hi MoMo, I can move the motor using the open loop test in the tuning tool and also using the out commands. However, when using out commands if I change the value by more than 3-5% I get the same error on the drive.

Hi MoMo, Thanks for your reply. I have an init command that sets 0x6060 to 9 in the Ecat slave settings, and I'm also setting the corrosponding mapped ECAT variable to 9. And I can see it is set correctly in the controller software. I've also set the JogTa and JogTs values to be very slow acceleration (0.1 mu per sec2 and 0.1 mu per sec3). I've plotted the data in the PMAC IDE and the Stober DriveControllerSuite and the PMAC is always sending a very high demanded velocity regardless of the jog speed setting and even when just enabling the motor with a j/ commad.

Hi I have a Stober motor and Drive Controller that I want to control via EtherCAT from a PowerPMAC UMAC in "Cyclic synchronous velocity mode". I got the motor working fine using the Stober DriveControlSuite software (I can jog the motor and get proper feedback) and I created the needed ESI files for the controller to be used in the PowerPmac IDE. On the PMAC side I have added the device to the EtherCAT topology and all correct PDOs are there and the EtherCAT Master can be activated without any issues. Then I added a new motor to the project and set it up to have "Cyclic Velocity" as Control Type and set the PDO sent to the drive controller to 9 which corresponds to "Cyclic synchronous velocity mode". For the Hardware Configuration I've set the following: When I get to the Basic Tunning step The motor will get enabled and disabled few times without actually moving. Then I get an error message that tunning failed. If I try to run the motor manually via jog commands I just get following error and the target velocity received by the controller is "65536000 inc/s" regardless of the jog speed or jog direction. Is there any other setup steps or settings I'm missing to get this working? I've also tried setting the motor in Cyclic position mode and I'm getting similar behaviour with the target position being "-59215697 inc".