koustubh_h

Hi, I am facing some problems with ECAT configuration when it comes to setting alias. I am using ARM processor PPMAC 1020 CPU with firmware version 2.6.0.0 I tried doing the configuration with PMAC IDE vers. 3.1.4.0 and 4.4.0.99 but with the same results. Now about the problem, I am connecting 4 drives (ABB make Motiflex e180) and 2 encoders (Hengstler make) through ECAT switch (Beckhoff make CU1128) in star topology. When i scan devices i can see all slaves and i m able to generate ENI file and load to PPMAC and run properly, no issues. This is what i get when i type "ecat slaves" in the terminal window - ecat slaves 0 VID=$00000002 PC=$04685432 0:0 OP + Slave_1001 [CU1128] 1 VID=$000000B7 PC=$000002C0 0:1 OP + Slave_1002 [MotiFlex e180] 2 VID=$000000B7 PC=$000002C0 0:2 OP + Slave_1003 [MotiFlex e180] 3 VID=$00000002 PC=$04685432 0:3 OP + Slave_1004 [CU1128-B] 4 VID=$000000B7 PC=$000002C0 0:4 OP + Slave_1005 [MotiFlex e180] 5 VID=$000000B7 PC=$000002C0 0:5 OP + Slave_1006 [MotiFlex e180] 6 VID=$00000002 PC=$04685432 0:6 OP + Slave_1007 [CU1128-C] 7 VID=$20041961 PC=$00000547 0:7 OP + Slave_1008 [ACURO] 8 VID=$20041961 PC=$00000547 0:8 OP + Slave_1009 [ACURO] There is no mismatch and i am able to Activate EtherCAT etc., etc., But i need a configuration where i should be able to remove any device intermittently. For that i set "identification value" to the station address expecting it to write to EEPROM. it does, when i go to diagnosis mode and verify at EEPROM tab at 0x0004 i can see the station address assigned. But, the same address is not replicated to ESC register no. 0x0012 which it must. That is why it creates a network mismatch which when i observe from "Network Mismatch Analyser" i see configured alias as 1002 (the station address assigned) but the network alias keeps showing 0 (which is the value at ESC register 0x0012. Even after making group by putting station address at 0x0012 or by putting offsets at input and output to "pinned group" it doesn't work. Hence, if i remove one slave from the configuration the next slave gets detected as the earlier one and the whole configuration goes for a toss. The same phenomenon is observed in PMAC IDE 3.1.4.0 through EC-engineer or through PMAC IDE 4.4.0.99 with embedded EC-Engineer. Also network mismatch analyser is absent in vers. 4.4.0.99. Please help. Maybe i am doing something wrong, so kindly help me pin-point where i could be.

I did follow the instructions, moved the project to a different folder but did not work. I did it at D:\ and E:\ but it did not work. Finally i created a new project on C:\, copied all files and downloaded. it worked. Is it somewhere related to the location where one creates the project???

I am using PPMAC ARM CPU with firmware version 2.6.0.0 and IDE version 4.4.0.99 As far as i know, the firmware version and IDE version is matching. The project that i've created gets built and downloaded but without the usercode.c in real time routines folder. Ive done the user servo setup by setting motor no. 16 to user_pid_ctrl. When i try to build and download the message that crops up is in the attachment.

For a particular application we have moved from UMAC to Power UMAC. Naturally the accessory we were using with Turbo PMAC 2 inside UMAC i.e. ACC53E could not be used so had to go for ACC84E. We are using absolute gray code SSI encoders from Hengslter for reading on-going position of the axes. I've a small doubt, when referring ACC53E manual, page no. 12 it talks about Data Read limitations where it says that the minimum time of the data read from the SSI encoders must be less than the High time of the clock signal used i.e. either phase clock signal or servo clock signal. In the same topic it is mentioned the formula to calculate the minimum time based on each channel's capability of reading 25 bits of data. Is the same logic applicable when we use the ACC84E in place of ACC53E? What is the capability of reading no. of bits on each channel of ACC84E? Is it anywhere related to the no. of bits (resolution of the SSI encoder being read? We are facing some problems with encoder reading the last 2 digists keep varying and the same is getting reflected on the velocity read from the same feedback device creating problems in tuning as well as getting proper velocity profile for that particular application. Can anyone help?

Hi, This is related to a particular application that we plan to do with Power Brick Controller It is X, Y table with linear motor from LinMot & Magsprings, Switzerland. We wish to interface the axes through EtherCAT, and generate position set points over EtherCAT by keeping the drives in CSP (Cyclic Synchronous Position) mode. We are at present stuck up with selection of drives from LinMot. The question is whether to go for CoE DS402 protocol or SoE. What would DeltaTau prefer?

When i click on private messages it says - You cannot use the private messaging functionality as it has been disabled by the Administrator. Can you email me? kaustubh@intelmotion.com or kaustubh.hunswadkar@gmail.com

Where? and how should i read that?

Hi Richard, I am Kaustubh, working along with Amar. I agree that it could be the gains who are creating a problem with cascade loop. To verify the same we created a user written servo implemented through either PLC0 or through the user written algorithm. We used the template given in the PowerPMAC user manual page no. 763. The template is as shown below - double user_pid_ctrl(struct MotorData *Mptr) { double ctrl_out; if (Mptr->ClosedLoop) { // Compute PD terms ctrl_out=Mptr->Servo.Kp*Mptr->PosError-Mptr->Servo.Kvfb*Mptr->ActVel; Mptr->Servo.Integrator+=Mptr->PosError*Mptr->Servo.Ki; // I term ctrl_out+=Mptr->Servo.Integrator; // Combine return ctrl_out; } else { Mptr->Servo.Integrator=0.0; return 0.0; } But, here the error we are talking about is coming from an analog source. It is not coming from a feedback device like encoder for e.g., so the error doesn't mean following error. Hence, what i am doing right now is subtracting the error value read at the last RTI from the present error value so as to get the value equivalent to following error. This value i m feeding to the servo.integrator. Now, i m getting a proper servo output with integration, it is not saturating. But, still the system oscillates maybe due to the integral error value i m putting. Slight change is making it unstable. My question now is that according to the template the first line ctrl_out calculates the servo out based on Kp, should i be doing the same thing to generate "following error" kind of error to be multiplied with Kp to generate ctrl_out as well in the first place before integration?

How can i access SDO (service data objects) in PowerPMAC? I am trying to interface multi-turn absolute EtherCAT encoder of Baumer make to PowerPMAC CPU 465 (firmware version 2.1.0.39). PDO dictionary objects can only read PDO's like Actual Position and Warnings etc. But to get multi-turn output from the encoder i need to set some SDO's like 0x6002 which is "Total measuring range". But i am unable to find the SDO access on EtherCAT tab on PMAC IDE as it is present in say TwinCAT. The Baumer make encoder has a protocol CoE with implementation of CANopen DS406 encoder device profile. Please help.

Thank you!

We are having 4 EtherCAT drives and 2 EtherCAT encoders. So, I guess 8 axes license should be OK. Virtual axes for User Servo and fantom axes should not matter, isnt' it? Thanks a lot.

We have recently bought Power PMAC CPU 465 along with relevant UMAC accessories for a particular application with 8 axes license. Now, i wish to know whether 8 axes license is enough or we need to go to 16 axes license. For that i m listing the basic requirement of the application - 1. Controlled axes - 4 Nos. 2. Handwheels connected as incremental encoder feedback to ACC24E2A - 4 Nos. 3. EtherCAT based absolute encoders - 2 Nos. 4. virtual axes for User Written Servos - 2 Nos. 5. Virtual fantom axes - 2 Nos. I am not sure whether we need extra license for virtual axes as for controlled axes or not. Kindly confirm. If we do need to go for 16 axes license from 8 axes license how do we go about it? Do we need to re-send the CPU back to US or is it possible by downloading firmware in the CPU kind of activity is enough? Please reply ASAP.

Thx for the reply. But i've not been able to get the F/W update 5862.0.10 WIP from anywhere. I've been trying to get in touch with our local Baldor/ABB persons, even through their Support me site, i am unable to get the required firmware. If you have it or if you know the source please let me know ASAP. Thanks again.

Thanks for the answers. Just to add more info, let me describe exactly the requirement. I've an axes which is a servo motor with resolver feedback and a load encoder. I m closing the loop with encoder and for a certain mode of operation there is a program which is running for the particular axes. Now, there is another mode which needs to be switched on the fly, when triggered, the rate loop (velocity) which it has generated during the program run should continue and then the speed should increase or decrease based on analog errors (+/-10V) being generated externally and fed to PMAC through ACC-28E. Earlier, we kept the native position loop running (with encoder feedback) and used a over-riding cascaded loop to correct the analog errors. Now, the requirement has changed and the expectation is that the axes should keep running in the other mode irrespective of whether the encoder feedback is coming or not. Hence, i thought of the rate loop logic.

I understand that with PMAC we can only close the position loop. The velocity loop is integrated inside the position loop. But if i wish to keep the position and velocity loop seperate, can i do it? My application demands the axes to move in position loop based on encoder error and then switch to pure rate loop where instead of encoder error i will get analog errors and i need to close the rate loop based to them. Please help.

Thx for the help. I am going through the manual and will get back to you if i need any more info.

I've this specific application related query. I wish to make PowerUMAC as EtherCAT master and ABB e180 drives as the EtherCAT slaves. The list of EtherCAT devices confirms interface with ABB e180 drives over EtherCAT so that is not a problem. There is a requirement of absolute encoder fitted on load which i wish to use with EtherCAT protocol. Now, my basic query is can i close the servo loop with e180 drives and absolute encoders over EtherCAT? Is there any documentation related to it? Has anyone done any such application? if yes, is there any application note available?