jwjusti08 Posted September 24, 2013 Share Posted September 24, 2013 I have a power PMAC with etherCAT and I am trying to get it working with a CT Drive. I have successfully been able to close the loop, but the motor will not jog. I have position feedback coming into the DT, and the drives display says run, which means the drive is outputting power to the motor. Not sure what I am doing wrong. When I push either of the jog buttons the drive goes to inhibit, when I let go it goes back into run mode. Any help would be much appreciated. Link to comment Share on other sites More sharing options...
curtwilson Posted September 24, 2013 Share Posted September 24, 2013 Does the drive think it is in its overtravel limits (or does PMAC?) Link to comment Share on other sites More sharing options...
jwjusti08 Posted September 24, 2013 Author Share Posted September 24, 2013 No but the DT PPMAC in the motor status window it shows an FeFatel and an Amp Fault, but the drive is not tripped. Link to comment Share on other sites More sharing options...
jwjusti08 Posted September 24, 2013 Author Share Posted September 24, 2013 So now I have it to where the motor status window shows closed loop and amp enable. The drive is being enabled via DT, but when I try and jog the following error just counts up, but the motor never moves. I double checked that I still have feedback from the drive. It looks to me like DT is not sending a command to the drive. Not sure where to go from here. Oh, also I am in position mode. Link to comment Share on other sites More sharing options...
curtwilson Posted September 24, 2013 Share Posted September 24, 2013 If you are using the drive in position mode, the Power PMAC must be outputting commanded position. To do this, Motor[x].Ctrl must be set to Sys.PosCtrl to select the "servo" algorithm that just outputs commanded position without trying to close a servo loop. Make sure that Motor[x].pDac is set to the address of the ECAT data structure element that will transfer the commanded position to this drive. In position output mode, the motor still monitors received actual position to compare to the command position it outputs, for the purpose of monitoring the position error, even though it does not use this error for any purpose but possible tripping on excessive error. Your drive should be doing this as well. Link to comment Share on other sites More sharing options...
bradp Posted September 25, 2013 Share Posted September 25, 2013 Please see attached setup document. Most likely the problem you have is the few commands you must send from the terminal window which are described inside. Setup Control Techniques Digitax ST rev03.zip Link to comment Share on other sites More sharing options...
jwjusti08 Posted September 25, 2013 Author Share Posted September 25, 2013 Thank you very much. There was no instruction in any manual that I could find about setting the distributed clocks. That is what I was missing. Next question have you guys got this working in velocity or torque mode? Link to comment Share on other sites More sharing options...
bradp Posted September 30, 2013 Share Posted September 30, 2013 We usually do cyclic synch position. But have tested cyclic synch velocity and torque and have made them work. Link to comment Share on other sites More sharing options...
Recommended Posts