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Clark_control

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  1. I have a question. How to add ETEL's EtherCAT drive to the Updated List of EtherCAT Devices certified by Delta tau?
  2. I expected it to be an error that occurred because the OP mode was not automatically changed in the ETEL Driver. So, I added a syntax to forcibly change the OP mode to 08 in the ETEL Drive XML file. After re-scanning the changed XML, EtherCAT could be activated normally. The axis has been operating normally for 4 days now.
  3. I am going to use CK3E and ETEL's EtherCAT drive. EtherCAT scan was completed normally, but An error occurs when EtherCAT is activated. View the EtherCAT related articles on the forum and attach the data obtained when connecting to EtherCAT. For reference, I have already completed the axis drive by connecting the ACS motion controller and ETEL EtherCAT drive. There was no EtherCAT related problem in ACS motion controller. Please advise. thanks ERROR.zip
  4. Hello. I have been testing the Endat2.2 linear encoder phasing problem so far. Tested in two ways. 1.Absolute sensor/Primary serial feedback phasing method -I think that when $$$ or PowerUMAC power is ON/OFF, Servo should be enabled immediately with #5j/ without a separate phasing operation. However, Servo is not enabled. -When TurboUMAC and Endat2.2 were previously applied, Servo enabled and operated with #5j/ without phasing. -In CK3M technical data, there is a reference for Endat2.2 setting as follows, so I tested it, but it is not resolved. CK3M technical data Sys.WpKey = $AAAAAAAA //Release write-protect //Setting registers for Serial Encoder Gate3[1].SerialEncCtrl = $01020003 //Setting Encoder table EncTable[9].type = 1 EncTable[9].pEnc = Gate3[1].Chan[0].SerialEncDataA.a EncTable[9].ScaleFactor = 1 Motor[5].ServoCtrl = 1 Motor[5].pEnc = EncTable[9].a Motor[5].pEnc2 = EncTable[9].a //Enable Serial Encoder Gate3[1].Chan[0].SerialEncEna = 1 //Perform delay compensation cycle and position data reading Gate3[1].Chan[0].SerialEncCmd = $80071025 Motor[5].pAbsPos = Gate3[1].Chan[0].SerialEncDataA.a Motor[5].AbsPosFormat = $01002500 Motor[5].AbsPosSF = 1 Motor[5].PowerOnMode = 4 2. Stepper phasing method -After setting up the axis with the stepper phasing method, Servo enable was possible with the manual phasing method, and the motor could be driven after gain tuning. #5out0 I579=1000 Motor[5].PhasePos=0 i579=0 #5k #5j/ -The manual phasing method is used when using a general incremental encoder. I don't think it is suitable for using encoders. * I should use the current axis phasing method as the Absolute sensor/Primary serial feedback phasing method, not the Stepper phasing method. Please tell me how Delta tau can solve it. And I used 2 PowerPMAC CPUs to test the current axis, but I have a problem that I can't understand, so please contact us. After setting the same Stepper phasing method with two CPUs, the Current six step test was conducted in Test and Set. Depending on the CPU, the current six step test passed or an error occurred. -460EX CPU: Passed, normal Motor[].PhasePosSf, Motor[].PhaseOffset values ​​were found, and the axis was operated normally after manual phasing. -1020 CPU: An error occurred, and after manually inputting the Motor[].PhasePosSf value and the normal direction value of Motor[].PhaseOffset, the axis was operated normally after manual phasing. * The actual CPU to be used is 1020 CPU, but it is necessary to check if it is a bug of the CPU itself. When tested with two CPUs, the ACC-24E3 interface board was in the same state. After initializing the 2 CPUs, attach the set data as a file. ** The conclusion is to drive the axis using the Absolute sensor/Primary serial feedback phasing method when applying a linear motor and Endat2.2 linear encoder. I have used TurboPMAC a lot, but it hasn't been long since I experienced PowerPMAC. I need your help. 460EX Setup PowerPMAC Messages.txt 1020 Setup PowerPMAC Messages.txt
  5. I am already using IDE 4.4.2.3 version. And since I know there is an IDE docking problem, I don't use IDE docking. Turbo pmac normally used Endat2.2 linear encoder. I also think phasing is not normal and I don't care about tuning. Is the Endat2.2 linear encoder setting I set wrong? Or is the Sinewave amplifier setting wrong? Attach motor information and Sinewave amplifier information. It has been confirmed by this week and should be tested. I have another question. The Korean agency said that the 2dac dedicated ACC-24E3 interface board is a separate option. I want to know if the ACC-24E3 interface board I have is capable of 2dac control. Attach interface board information. Gate3[0]: Digital Amplifier-Interface Mezzanine Board for 4-axis, Analog Feedback Mezzanine Board Gate3[1]: Analog Amplifier-Interface Mezzanine Board for 4-axis, Digital Feedback Mezzanine Board interface card option.txt
  6. I tried testing again by increasing the servo gain, but it didn't work. The test contents are attached as a picture file. The IDE version uses 4.4.2.3. Endat2.2 encoder setting information is attached as a picture file.
  7. Hello. I set up the axis with Acc24E3[1].Chan[0] input to Motor[5]. But there was a problem. PowerUMAC configuration is PowerPMAC CPU + ACC-24E3(300-604005-10x, 300-604004-10x)+ACC-24E3(300-604006-10x, 300-604003-10x). I confirmed that the Endat2.2 encoder input status input to Motor[5] is normal. And in the Test and Set item, the following items went well. 1.Current six step test: Test completed 2. Open loop test: Test completed 3. Measure DAC bias value: Test completed However, an error occurred in the following items. 4. Phase reference search: error occurred I don't know if this is the problem, but when the initial amp enable command (#5J/), the axis bounces and a following error occurs. I think there is a problem with the settings I made. Please check if there is a problem with the setting. Setting history is an attached file. Phase9.036_servo2.259 default setting_delta tau.txt
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