lasertom
-
Posts
6 -
Joined
-
Last visited
Content Type
Profiles
Forums
Events
Downloads
Posts posted by lasertom
-
-
[quote='Sina' pid='1294' dateline='1297182998'] If you want to set an I-variable to factory default you can do: [code]I100=*[/code] and if you want to do a range: [code]I100..199=*[/code] and if you want to clear everything back to factory default issue: [code]$$$***[/code] Regards, [/quote]
-
I found that I had to reverse the resistor packs for the encoder, now I can tune motors, one works fine but the other stutters, I switched motors and the problem is in the Pmac. How do I erase all the parameters to start fresh? The tuning for both motors look perfect.
-
[quote='Sina' pid='1090' dateline='1295049788'] I did a simulation with Turbo PMAC2 and here is what you need to setup (disregard the 1st motor settings since this is how I simulated your external servo pack) Wire the emulated quadrature to channel 1 of ACC-24E2/ACC-24E2A. Setup your encoder conversion table to read the quadrature input. This is the default setting: [code] I8000=$78200 I103=$3501 I104=$3501 [/code] Which is 1/T extension of quadrature encoder for 1st channel in 1st ACC-24E2/ACC-24E2A. Wire the pulse and direction out from the ACC-24E2A channel 1 encoder connector (jumper E1A, E1B, E1C, E1D to enable pulse and direction output on pins 9 to 12 of Terminal block and pins 1,2,9,10 of DB15 option) Set the output mode of c output to pulse and direction by setting [code] I7mn0=3 [/code] point Ix02 of motor to c-output of channel: [code] I102=$78204 (for channel 1) [/code] Now you should be able to tune the motor. Depending on your servo clock, the PID gains will be different. look at the example below: [code] I100=1 I102=$78204 I124=$20001 I130=32768 I131=0 I132=321 I133=0 I134=1 I135=360 I7216=3 I7210=8 I105=$3502 //slave to second channel I106=1 //slave mode: offset /*----------------------------------------*/ I200=1 I224=$20001 I203=$3501 //looking at same encoder as motor 1 which is simulating an external servopack //in your setup it should look at ECT which reads the quadrature data from servopack I204=$3502 I202=$7820C // PFM output on 2nd channel of GATE I7226=3 // set output mode to PFM on output C, you should wire this one to your servopack I7220=8 // internal pulse and direction I230=8192 I231=0 I232=1280 I233=0 I234=1 I235=0 /*---------------------------------------*/ [/code] [/quote]
-
[quote='Sina' pid='1053' dateline='1294936429'] Hi, Just to be clear before I post an answer, please provide me this information: - You have emulated encoder output from NSK ESA servo packs (please specify the format, i.e. quadrature, pulse/direction, etc.) - You can command the NSK ESA servo pack through RS232 / step&direction or CCW/CW(?analog?) Regards, [/quote] Emulated quadrature No analog input
-
I have a robot with NSK Megathrust linear motors. The servo packs are closed loop outside of UMAC. The NSK ESA servo pack outputs encoder data that is a derived from the ESA computer, also the only input option I have is RS232 or Step and Dir, or CCW CW. How can I close the loop on the UMAC with this system I have tried all the utilities and I still get a following error.
Running NSK ESA servo
in Turbo PMAC
Posted