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beheredurgesh

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Everything posted by beheredurgesh

  1. Hello, We seem to have found a solution. We connected a couple of slaves through ECAT junction (CU1128 of Beckhoff make) and configured the slaves in group and did a “hot connect” to it through embedded EC-Engineer of PMAC IDE version 4.4.0.99. After doing the above, we could remove and re-connect any slave on the fly and even change slave port on the ECAT junction w/o any change in the scheme. But, Of course we would like to have a 3rd and expert opinion on what we have done and whether it is fool-proof or not. So, let me know once you are done with the testing at your end. Thanks!!
  2. Hello, Thanks for the reply. It is now working as expected. I have one more question. Instead of PPMAC 465 now I am using an ARM CPU (Firmware: 2.6.0.0, IDE: 4.4.0.99) and want to assign an alias number for all EtherCAT devices. I have followed the instructions written in the EC engineer manual and configured the station alias in diagnostic mode as mentioned. After changing the alias number, when I am changing the position of any slave in the network, EtherCAT is not getting enabled at all. Can you provide any direction or advice to resolve this issue?
  3. Hello, I am using the PPMAC 460 controller connected to the Beckhoff CU1128 EtherCAT switch. Two EtherCAT drives are connected to the switch. As mentioned in the manual, Alias number can be changed using the command ecat alias {constant} {constant} but after setting the alias using the above command EtherCAT is not getting enabled. But when I am changing and configuring the alias number of the two drives in the system setup window, I am able to connect both the drives anywhere in the EtherCAT switch (having eight ports) without any issues. Am I using the command the right way or is there any correct way of using the command line? Regards, Durgesh
  4. Hello sir, We have a ck3e with the EtherCAT option, that we have connected to a following EtherCAT devices.The topology is daisy chain and network is as follows: Master - ck3e Slave 0 - C1250-DS-XC-1S (Drive)(has reference distributed clock box checked in settings) Slave 1 - C1250-DS-XC-1S (Drive) (has reference distributed clock box unchecked in settings) Slave 2 -R88D-1SN04H-ECT (Drive) (has reference distributed clock box unchecked in settings) Slave 3 -R88D-1SN04H-ECT (Drive) (has reference distributed clock box unchecked in settings) Slave 4 -NX-ECC203(EtherCAT coupler) (has reference distributed clock box unchecked in settings) to which following modules are connected, ->NX-EC0122 ->NX-ID5442 ->NX-OD5256 The servo frequency is 1Khz. I checked the distributed clock which is working fine (by checking the parameter Ecat[0].DcclockDiff) while application is running the ethercat coupler(slave 4) is going into SafeOp state and output module is showing error. The other all devices are not showing any error and state is operational. I just wanted to ask what would be a reason because of which ethercat coupler is going into SafeOp?? how should I diagnose the same. Also after giving "ecat reset" command in the terminal the problem is resolving. Let me know if you need any other details,any help would be great, thank you for your time :) Regards, Durgesh
  5. Thanks in advanced. With PPMAC 465CPU I performed steps as mentioned in the manual. and observed the output tab as you mentioned above.There was no error,but when I entered Assign Activate value 300 (same as the value is read from the device’s xml file) and accepted the setting after that the EtherCAT is not enabling.
  6. Hello sir, I have a few doubts regarding distributed clock feature in EtherCAT communication. I have performed following steps and observations are as below, 1. I connected the PPMAC 465 CPU directly to one ABB Motiflex E 180 drive and mapped required PDO’s in PPMAC 2. Phase frequency = 4khz 3. Servo frequency = 1khz 4. Mode of operation is set to 10 5. After configuring the one motor as above, It is running in torque loop from controller side but with distributed clock not working correctly (ECAT.DCClockDiff is drifting in only one direction) 6. I also performed exactly same steps (using EC Engineer software) with ARM CPU and the distributed clock is working correctly. (ECAT.DCClockDiff is fluctuating around a nonzero value) My questions are, 1. In both of above configurations, the RAMP Response RMS errors are similar, so what function DCClock features serves? 2. If we keep distributed clock feature disabled on PPMAC, Will it impact servo performance in any way? The number of slaves will be 8 in actual application. Let me know if you need any other details, Thanks, Durgesh
  7. Hello Eric, Thanks for the reply. I have executed commands suggested by you. I am attaching the image of the output of the command. Thanks.
  8. Hello, We are facing a problem with the actual position value with the below configuration. We are interfacing absolute SSI 22 bit encoder with PPMAC 465 CPU using ACC-84E. We have the following configuration Acc84E[14].SerialEncCtrl=$633102 Acc84E[14].Chan[0].SerialEncCmd=$1c16 Sys.ServoPeriod=0.25 Sys.PhaseOverServoPeriod=1 We can read the value but the actual position value is fluctuating. Do you know the expected settings to make the reading stable? Regards, Durgesh
  9. Hello I am currently working on an application where I am setting the mode of the operation equal to 10(cyclic synchronous torque mode). I am using the PPMAC 465 CPU as Ecat Master and ABB's motiflex e180 as EtherCAT Slave. Drive maximum current 50A Motor continuous current 19A one gearbox (40:1) attached to the motor. Case 1: MaxDAC = 1000 PDO corresponds to a 6071h value ranging from -200 to +200 but sometimes it fluctuates up to 1000. case 2: MaxDAC = 2000 PDO corresponds to 6071h value ranging from -400 to +400 but sometimes it fluctuates up to 1319. Does anyone know what is the expected range for Target torque(6071h And how the value of the MaxDac affect the range?
  10. Hello sir, I am trying to install PPMAC library into Matlab I have performed following steps 1. MATLAB R2017a is installed 2. Power PMAC IDE is installed (IDE version :- 2.2.0.39) But Now when I am trying to install , installation aborts with an error saying “renaming ertlib.tlc to ertlib_backup.tlc”. I have attached screenshot of the same with the Thread. Thanks, Durgesh
  11. Dear Sir, We are using ACC 84 E with Turbo UMAC. In the RACK we have only 2 Accessories 1. ACC 24E2A & ACC 84 E. Switch Setting on ACC 84 E is Sw1 ON/ 2,3,4, OFF and encoder connected to Channel 1 So the address is $78d00. We are using 22 Bit SSI GERY code Single turn encoder. Encoder Voltage is 24 V. 24 V is connected to encoder directly. 24vGnd is connected to GND of encoder & Pin no 5 of D connector. As per manual we have done the following settings with Technique 3 ( as encoder is Greater than 19 bit) In encoder conversion table we have done following entries. Entry 5 Conversion Type -> Parallel position from Y word with no filtering. Source Add-> $78D00 Witdth in Bits-> 22 Offset - > 0 Normal shifting. We have assigned $3506 to I103 & I104 As per manual we have set i108=1 and i109=1. But we are not getting any feedback. This encoder works with ACC 53E.
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