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servomotor controller with external components
#1
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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#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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#3
(04-20-2018, 01:12 PM)steve.milici Wrote: 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.

Thanks, is it posible buy a ethercat 4 servo axes licences for a power clipper?
when i set Motor[x].pDac = ECAT[i].IO[j].Data.a my ethercat system fail because i dont have the ethercat license for axes.
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#4
The hardware must be sent back to ODT under an approved RMA to be re-programmed.

The charges would be for the ECAT option plus a rework fee.
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