Eric Hotchkiss

The settings look ok to me. This is decoded hexadecimal/binary data that is not useful to the customer. What are you intending to accomplish?

Please let us know if you still need anything after your communication with the Omron Europe PMAC team.

This has to be something with the mechanics/loading of the system. PMAC is applying as much voltage as needed to move the motor. Direction should not matter from an ODT perspective.

You should be able to right click the folder your code is in or the include folder, select add new item and choose header file. sinTraj_flag(6) looks like a user declared variable. Did it come from matlab? Is there a PLC watching the flag to run a motion program? Can you show this code?

If you place ECAT[0].DCClockDiff in the watch window while EtherCAT is running, how does it behave? Does it stay near a constant value or keep increase/decreasing forever?

I would be surprised if you needed to include math.h. I am able to use the basic trig functions it provides anywhere in PMAC. Are you sure it is needed? It looks like there is only one "#endif". Could this be responsible for the error?

I was not able to duplicate this issue. Can this be observed by logging in with putty (through SSH) and then letting the window sit for more than 70 seconds? What is the form factor and firmware version? I am using a CK3E with 2.6.1.0

All the available documentation comes bundled in the Documents folder of the N16 folder set and unfortunately there is no additional documentation for those Run options. If the Dry Run button is enabled, feedrate override will be ignored and the program will run at 100% execution speed. You have all of the other functionality correct.

Are you sure this drive supports bus shift mode? Not all EtherCAT drives do.

To check if m602 is set up correctly, enter "m602->" in the terminal and check if output matches "M602->Y:$07810A,8,16,S". (Value taken from suggested M-Variables in Turbo Software Reference Manual). Out of curiosity, do you have access to any local support?

In the future, please report bugs to the local support team, they submit them directly to the factory

We are aware there are bugs and issues with the current Compensation Table tool. The April release will resolve these issues.

US customers can also reach out to the US support email at ODT-Support@omron.com

Extra torque or position can be injected into the motor at the following locations. These are typically used as targets for compensation and cam tables. Motor[x].CompDac (torque) Motor[x].CompDesPos (desired position) Motor[x].CompPos (feedback position) Motor[x].CompPos2 (feedback position for velocity calculation)

Having the zeros at 90% of the resonant frequency provides more phase lead for stability. Having the poles at 150%, reduces the high-frequency gain and so noise magnification. If you want, you can bypass these automatic values and specify frequencies and damping ratios for both zeros and poles directly.

I recommend you reach out to their respective Omron Tech Support representatives in order to obtain needed manuals/documentation or report bugs. Some product information is available from the following links. https://automation.omron.com/en/us/products/families/advanced-motion-controllers https://automation.omron.com/en/us/products/family/Brick%20AC https://automation.omron.com/en/us/products/family/Brick%20LV https://automation.omron.com/en/us/products/family/PMAC%20IDE

What IDE version is this image from? It does not look familiar. What is different from what?

Which manual are you referring to? What is Clipper PLUS T3 Controller? With I600 = 0, you do not need to set I669. Is M602 pointer correct? Did you download the suggested M variables? With I600=1, do you see voltage output with #6Ox command(s)? I am deleting the thread in the Power PMAC forum as this is a Turbo PMAC issue.

For firmware files, please reach out to your local Omron Tech Support representative.

You can get this application note from your local Omron representative.

Was this referring to a closed loop move, like a jog move or motion program?

Can you try temporarily changing the positive direction of the motor? I am curious if it gets the same behavior. Swap any two Motor Leads Change Acc24E3[3].Chan[2].EncCtrl from 3 to 7 (make sure wpkey is set) Phase again with new setup Confirm Open Loop Test is the correct direction Jog Motors If the same physical direction still needs more current, than the motor definitely needs more torque to move that direction.

The torque experienced by your motor will match up with Motor.IqMeas/IqCmd in this situation. If PMAC applies more current it most likely means the motor experienced more friction/load. If you turn the motor by hand, is one direction more difficult than the other? Is gravity pushing on the motor in some way? Is voltage mode being used for enhanced precision on small moved or some other purpose? Do you experience the same issue with normal direct PWM current control?

Are you able to move the encoders separately? Maybe you can unplug one while moving the mechanics so PMAC can only see one move?

I issued a $$$*** and downloaded the following code on my PMAC. My motor position moves from either encoder. Are you sure the code is downloaded and those are the current values in PMAC? Type the name of a structure element in the terminal to check it's value. EncTable[1].type = 8 EncTable[1].pEnc = Gate3[0].Chan[0].ServoCapt.a EncTable[1].pEnc1 = Gate3[0].Chan[1].ServoCapt.a EncTable[1].index1 = 0 EncTable[1].index2 = 0 EncTable[1].index3 = 0 EncTable[1].index4 = 0 EncTable[1].index5 = 0 EncTable[1].ScaleFactor = (1/2)*(1/256) Motor[1].ServoCtrl=1