AKD kollmorgen with ck3m in CSP mode

[lithish]

I am not able to get the position actual value correctly using the current PDO mapping (input -0x6064,0x0641. , output - 0x607A,0x6040), (int commands-0x6040=8)

Checked the values using watch ethercat mapped variables 

The value are different in kollmorgen work bench and the position actual value I get in the powerpmac .

I have followed the procedure given in powerpmac ide manual

Need support for the steps involved

Is there any scaling needed in the kollmorgen or ck3m ?

The motor is also not functioning as intended , makes some small motion and hits fatal limit

 

Powerpmac version 4.6.3.9

Edited August 3 by lithish
Added software version

[MoMo]

The position displayed in the Position window in PMAC is different from the position in the drive. This is not important.

The important thing is that you must ensure that PDO 6064 and 607A must be consistent before enabling the motor.

Otherwise the motor may run out of control.

The position given by PDO 6064 is not an absolute position. Because PDO 6064 is a 32bits register, there may be overflow.

In PPMAC you can adjust the motor units through Motor[x].PosSF and Motor[x].Pos2Sf.

 

 

[lithish]

Got it working. scaled the output using ds402 command in kollmorgen drive. Working as intended. Thankyou for the reply @MoMo.

PDO 6064 and 607A is consistent. After understanding it was very simple.

2 hours ago, MoMo said:

The position displayed in the Position window in PMAC is different from the position in the drive. This is not important.

The important thing is that you must ensure that PDO 6064 and 607A must be consistent before enabling the motor.

Otherwise the motor may run out of control.

The position given by PDO 6064 is not an absolute position. Because PDO 6064 is a 32bits register, there may be overflow.

In PPMAC you can adjust the motor units through Motor[x].PosSF and Motor[x].Pos2Sf.