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servomotor controller with external components
#2
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[i].type=1
EncTable[i].pEnc=ECAT[i].IO[i].Data.a //PDO mapped to encoder feedback
EncTable[i].ScaleFactor=1
Motor[x].pEnc = EncTable[i].a
Motor[x].pEnc2 = EncTable[i].a
Motor[x].pDac = ECAT[i].IO[j].Data.a //PDO mapped to analog outputs
Motor[x].pAmpFault = ECAT[i].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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RE: servomotor controller with external components - steve.milici - 04-20-2018, 01:12 PM

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