Jump to content
OMRON Forums

servomotor controller with external components


CVillaleiva

Recommended Posts

Hi,

 

i need to know if is posible controller a servomotor with external components over ethercat.

 

I have the following diagram of controll.

 

Pmac Clippsee with ACC-24S3 expansion board

|

Ethercat

|

Ethercat coupler NX-ECC203 (Omron)

|

Analog output module+-10Vdc (NX-DA2605)|| encoder input module (NX-EC0132)

 

so i want controller the servo with internal PID (advanced) like a motor #9.

 

i think that is posible create a "ghost" motor and put the encoder feedback and the analog output.

 

any experience or help is welcome.

 

thanks.

Link to comment
Share on other sites

  • Replies 3
  • Created
  • Last Reply

Top Posters In This Topic

This would be possible if the NX coupler has the latest firmware supporting Distributed Clocks. Once the PDOs are mapped for the analog outputs, encoder feedback and I/O for amplifier enable and amplifier fault, you can setup the motor something like this (assuming default settings):

EncTable.type=1

EncTable.pEnc=ECAT.IO.Data.a //PDO mapped to encoder feedback

EncTable.ScaleFactor=1

Motor[x].pEnc = EncTable.a

Motor[x].pEnc2 = EncTable.a

Motor[x].pDac = ECAT.IO[j].Data.a //PDO mapped to analog outputs

Motor[x].pAmpFault = ECAT.IO[j].Data.a //PDO mapped to input for amplifier fault

Motor[x].AmpFaultBit = {n} //bit position for amplifier fault

Motor[x].pAmpEnable = ECAT[0].IO[25].Data.a //PDO mapped to output for amplifier enable

Motor[x].AmpEnableBit = {n} //bit position for amplifier enable

 

Tune the motor appropriately for the drive type.

Link to comment
Share on other sites

  • 3 months later...

This would be possible if the NX coupler has the latest firmware supporting Distributed Clocks. Once the PDOs are mapped for the analog outputs, encoder feedback and I/O for amplifier enable and amplifier fault, you can setup the motor something like this (assuming default settings):

EncTable.type=1

EncTable.pEnc=ECAT.IO.Data.a //PDO mapped to encoder feedback

EncTable.ScaleFactor=1

Motor[x].pEnc = EncTable.a

Motor[x].pEnc2 = EncTable.a

Motor[x].pDac = ECAT.IO[j].Data.a //PDO mapped to analog outputs

Motor[x].pAmpFault = ECAT.IO[j].Data.a //PDO mapped to input for amplifier fault

Motor[x].AmpFaultBit = {n} //bit position for amplifier fault

Motor[x].pAmpEnable = ECAT[0].IO[25].Data.a //PDO mapped to output for amplifier enable

Motor[x].AmpEnableBit = {n} //bit position for amplifier enable

 

Tune the motor appropriately for the drive type.

 

Thanks, is it posible buy a ethercat 4 servo axes licences for a power clipper?

when i set Motor[x].pDac = ECAT.IO[j].Data.a my ethercat system fail because i dont have the ethercat license for axes.

Link to comment
Share on other sites

Guest
This topic is now closed to further replies.

×
×
  • Create New...