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servomotor controller with external components


CVillaleiva
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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.

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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.

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  • 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.

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