Running NSK ESA servo

[lasertom]

I have a robot with NSK Megathrust linear motors. The servo packs are closed loop outside of UMAC. The NSK ESA servo pack outputs encoder data that is a derived from the ESA computer, also the only input option I have is RS232 or Step and Dir, or CCW CW. How can I close the loop on the UMAC with this system I have tried all the utilities and I still get a following error.

[Sina.Sattari]

Hi, Just to be clear before I post an answer, please provide me this information: - You have emulated encoder output from NSK ESA servo packs (please specify the format, i.e. quadrature, pulse/direction, etc.) - You can command the NSK ESA servo pack through RS232 / step&direction or CCW/CW(?analog?) Regards,

[lasertom]

[quote='Sina' pid='1053' dateline='1294936429'] Hi, Just to be clear before I post an answer, please provide me this information: - You have emulated encoder output from NSK ESA servo packs (please specify the format, i.e. quadrature, pulse/direction, etc.) - You can command the NSK ESA servo pack through RS232 / step&direction or CCW/CW(?analog?) Regards, [/quote] Emulated quadrature No analog input

[Sina.Sattari]

I did a simulation with Turbo PMAC2 and here is what you need to setup (disregard the 1st motor settings since this is how I simulated your external servo pack) Wire the emulated quadrature to channel 1 of ACC-24E2/ACC-24E2A. Setup your encoder conversion table to read the quadrature input. This is the default setting: [code] I8000=$78200 I103=$3501 I104=$3501 [/code] Which is 1/T extension of quadrature encoder for 1st channel in 1st ACC-24E2/ACC-24E2A. Wire the pulse and direction out from the ACC-24E2A channel 1 encoder connector (jumper E1A, E1B, E1C, E1D to enable pulse and direction output on pins 9 to 12 of Terminal block and pins 1,2,9,10 of DB15 option) Set the output mode of c output to pulse and direction by setting [code] I7mn0=3 [/code] point Ix02 of motor to c-output of channel: [code] I102=$78204 (for channel 1) [/code] Now you should be able to tune the motor. Depending on your servo clock, the PID gains will be different. look at the example below: [code] I100=1 I102=$78204 I124=$20001 I130=32768 I131=0 I132=321 I133=0 I134=1 I135=360 I7216=3 I7210=8 I105=$3502 //slave to second channel I106=1 //slave mode: offset /*----------------------------------------*/ I200=1 I224=$20001 I203=$3501 //looking at same encoder as motor 1 which is simulating an external servopack //in your setup it should look at ECT which reads the quadrature data from servopack I204=$3502 I202=$7820C // PFM output on 2nd channel of GATE I7226=3 // set output mode to PFM on output C, you should wire this one to your servopack I7220=8 // internal pulse and direction I230=8192 I231=0 I232=1280 I233=0 I234=1 I235=0 /*---------------------------------------*/ [/code]

[lasertom]

[quote='Sina' pid='1090' dateline='1295049788'] I did a simulation with Turbo PMAC2 and here is what you need to setup (disregard the 1st motor settings since this is how I simulated your external servo pack) Wire the emulated quadrature to channel 1 of ACC-24E2/ACC-24E2A. Setup your encoder conversion table to read the quadrature input. This is the default setting: [code] I8000=$78200 I103=$3501 I104=$3501 [/code] Which is 1/T extension of quadrature encoder for 1st channel in 1st ACC-24E2/ACC-24E2A. Wire the pulse and direction out from the ACC-24E2A channel 1 encoder connector (jumper E1A, E1B, E1C, E1D to enable pulse and direction output on pins 9 to 12 of Terminal block and pins 1,2,9,10 of DB15 option) Set the output mode of c output to pulse and direction by setting [code] I7mn0=3 [/code] point Ix02 of motor to c-output of channel: [code] I102=$78204 (for channel 1) [/code] Now you should be able to tune the motor. Depending on your servo clock, the PID gains will be different. look at the example below: [code] I100=1 I102=$78204 I124=$20001 I130=32768 I131=0 I132=321 I133=0 I134=1 I135=360 I7216=3 I7210=8 I105=$3502 //slave to second channel I106=1 //slave mode: offset /*----------------------------------------*/ I200=1 I224=$20001 I203=$3501 //looking at same encoder as motor 1 which is simulating an external servopack //in your setup it should look at ECT which reads the quadrature data from servopack I204=$3502 I202=$7820C // PFM output on 2nd channel of GATE I7226=3 // set output mode to PFM on output C, you should wire this one to your servopack I7220=8 // internal pulse and direction I230=8192 I231=0 I232=1280 I233=0 I234=1 I235=0 /*---------------------------------------*/ [/code] [/quote]

[lasertom]

I found that I had to reverse the resistor packs for the encoder, now I can tune motors, one works fine but the other stutters, I switched motors and the problem is in the Pmac. How do I erase all the parameters to start fresh? The tuning for both motors look perfect.

[Sina.Sattari]

If you want to set an I-variable to factory default you can do: [code]I100=*[/code] and if you want to do a range: [code]I100..199=*[/code] and if you want to clear everything back to factory default issue: [code]$$$***[/code] Regards,

[lasertom]

[quote='Sina' pid='1294' dateline='1297182998'] If you want to set an I-variable to factory default you can do: [code]I100=*[/code] and if you want to do a range: [code]I100..199=*[/code] and if you want to clear everything back to factory default issue: [code]$$$***[/code] Regards, [/quote]

[lasertom]

I was tryimg to get the Home limit switch to work in HMI runtime mill and ended up tracing on the 24E2 card the home limit activates on the PLIM terminal and not HOME pin. I think the HMI PLC has PLIM and HOME signals reversed. Maybe a bad DRAM call. But I just swapped signals and seems to work fine.