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