Ernst.Q

Dacstrobe =$7fffc000 works. I already tried that value before, but it did not look correct since the command signal still changed after the out0 command, slowly climbing to 10V. Looking a bit further I noticed this was cause by the fact the current loop enabled by default! So the signal changed was probably caused by the offset on the analog input. After setting motor[].pAdc =0 everything worked fine.

I am trying to set-up the 8ES accessory with the Power Clipper, but the IDE set-up does not work. I upgraded the Power clipper with the latest firmware (in 2 steps) and the latest IDE. For some reason the setup utility does not work, I get the following error messages. Can you give me the settings for the DACstrobe and DACshift? Outputs system ethercat -m0 xml //11/17/2016 :12:53 PM - 192.168.0.200 system ethercat master // 11/17/2016 :12:53 PM - 192.168.0.200 Sys.MaxEcats = 1 // 11/17/2016 :12:53 PM - 192.168.0.200 Error messages 11/17/2016 :12:53 PM - 192.168.0.200, Module - Setup Motor : Global mask: 0xffffffff 11/17/2016 :12:53 PM - 192.168.0.200, Module - Setup Motor : CS mask: 0x201ffc 11/17/2016 :12:53 PM - 192.168.0.200, Module - Setup Motor : Motor mask: 0xc01ffd 11/17/2016 :12:53 PM - 192.168.0.200, Module - Setup Motor : Macro ring mask: 0x1e 11/17/2016 :12:53 PM - 192.168.0.200, Module - Setup Motor : Update period: 1.000000 Sec 11/17/2016 :12:53 PM - 192.168.0.200, Module - Setup Motor : Sys.Default=1 @ 17-11-2016 12:53:13 Debug messages 11/17/2016 :12:53 PM - 192.168.0.200, Module - Setup Motor Container : There was some error while executing database query. Details : Database Error:Table 'ppmac192_168_0_200.hardware_tbl1' doesn't exist. 11/17/2016 :12:53 PM - 192.168.0.200, Module - Setup Motor : There are no EtherCAT devices connect to Master[0]. 11/17/2016 :12:53 PM - 192.168.0.200, Module - Setup Motor Container : There was some error while executing database query. Details : Database Error:Table 'ppmac192_168_0_200.hardware_tbl1' doesn't exist. 11/17/2016 :12:53 PM - 192.168.0.200, Module - Global Clock : Empty Servo hardware List

Is it possible to upgrade a Turbo Clipper Drive to Power PMAC simply by replacing the Clipper board? And if so, which Clipper board version do I need for that?

Thanks, that is a good suggestion. My M-variables are based on the suggested values. Initialization PLC is standard. ECT is set-up for high res interpolation and for the steppers. If I connect the Estop to a relay and use it to switch the User 4 flag as a normal input, it works fine. So I do not think another function is writing to the same address. Drawback of using a relay to monitor the estop the extra relay in the safety circuit and the fact that the User flag only shows the status of the Estop button, but not that it has been reset or not. And yes, I start with a fresh project and download a cfg file with includes and use a header file for definitions.

I am testing using a simple wire connection via a terminal, not a real e-stop. I simply loose and reconnect the wire to emulate the e-stop. The wire connection is 0.5m at most. I don't see how this could relate to the problem, since I get a signal that there is an e-stop pressed, even though I can move the axes. So the actual e-stop is working fine, it is the User 4 flag which gives a faulty feedback.

I am trying to use the Estop on the Clipper drive with the User 4 flag as described in the manual (M415->X:$78018,19) However, I cannot get the M415 output to give reliable result: - If the Estop connection is broken, the value is always 1, this is consistent. - Also the reset works as expected. - However, if the Estop circuit is closed, the value is sometimes 0 and sometimes 1. It is most of the time zero if no motors are enabled. It is most of the time one if motors are enabled, if the motor is moving it is more often one. - I can run the axes without problems, regardless the value of M415 (as long as the estop connection is closed and has been properly reset) No other connections have been made to any of the Userflags. Even with no motorcables connected and configured for a stepper motor, giving a "#2o0" with all other motors disabled already flips the M415 up and down. It does not occur on axis #1, which is a brushless motor. It occurs on axis #2-#4, which are stepper motors. Estop config jumpers E1-E4 are OFF, J36 = ON, J39 = 1-2

The schematic of the user flags and the EQU outputs on page 28 of the manual does not look correct. As far as I can determine, the EQU outputs and User flags are connected directly to the JMACH2 port, without interface. And I would expect the EQU signals to be TTL level outputs.

I repeated the test with I7000=6527, I7001=7. Other parameters at default. sampling M70 (X:$FFFF8C,0,24) results in: - a correct value of about 34818 (phase period of 885 us) OR - a wrong value of about 2173 (0.15-0.3%). (period of 885/16) However, the value of M70 is never a value in between. If this was due to cross over, you would expect multiples of 2173 occurring, but they don't. Furthermore, the pulse trains of the phase on the scope are perfect, always the period of 885us.

I checked the phase with the scope, I did not see any glitches. There was no variations in the frequency or pulse width. Looks pretty clean to me.

Using a modified version of the sample monitoring program in the SRM guide, I captured the maximum and minimum values of the timing registers. The variation of the actual phase time (X:$00037) was minimal, value between 119 and 122 tics (1 axis @ phase 36kHz) However, the hardware timer register at address X:$FFFF8C should always be about 1092 tics, but the minimum value observed was 270 tics (this is unexpected!). It actually was 270 in 0.16% of the samples. The value exactly explains the peak values on the CPU load calculation. I think the time measured indicates a relationship with the maxphase signal frequency.

I have a clipper drive unit and I am seeing strange peaks in the CPU resources graph. The phase frequency load (red bar) regularly jumps to up to four times the continous load. The peak values are depending on the frequency settings as described below. It peak seems to be related to the PWM frequency. The unit is running just by itself by 24PSU, no cables or busvoltage attached. If I do these tests with the same parameters on a Geobrick-LV with identical firmware version (but without Macro IC0) or with a stand-alone Clipper (just 5V PSU), I do not see this phenomenon, there are no clear peak loads observed. Unfortunatly, I cannot simply swap the Clipper boards. I100,4,100=1 ; I101,4,100=1 a) PWM=36kHz, phase=36kHz, servo=4.5kHz (I7000=817, I7001=1, I7002=7). Continuous phase load = 32%, peak load = 132% b) PWM=36kHz, phase=18kHz, servo=4.5kHz (I7000=817, I7001=3, I7002=3). Continuous phase load = 18%, peak load = 132% b) PWM=18kHz, phase=36kHz, servo=4.5kHz (I7000=1634, I7001=0, I7002=7). Continuous phase load = 32%, peak load = 66% Measurements are done without motors enabled.

For an OEM application, I have need of a controller/drive for four axes. Two axes are dual loop, so I need 6 feedback channels. The Clipper Drive seems a suitable solution, but standard only has four encoder channels. As two feedback channels are velocity only, I will not need index on those. Is it possible to use the handwheel encoders as a secondary feedback? If not, what other options do you suggest.