ATC: carousel.comp with Servo drive
21 Sep 2023 08:51 #281286
by akg1904
ATC: carousel.comp with Servo drive was created by akg1904
Hi,
I have gone through many ATC posts with carousel(by Andy) and I am thinking of using the same for my ATC.
But I have some question regarding this:
1. I have a servo drive and motor which is EtherCAT based and want to use this for my ATC.Is there a way I can use it for ATC using Carousel.
2. Does Carousel support AXIS or Joint? As I can make my ATC additional Axis and control it.
As much as I can understand carousel, it mainly controls ATC using GPIO, but as I have EtherCAT based Servo drive and Motor, I don't know how to use GPIO to control it.
If anyone has some Insight please suggest me and help me figure it out.
Regards
Abhishek
I have gone through many ATC posts with carousel(by Andy) and I am thinking of using the same for my ATC.
But I have some question regarding this:
1. I have a servo drive and motor which is EtherCAT based and want to use this for my ATC.Is there a way I can use it for ATC using Carousel.
2. Does Carousel support AXIS or Joint? As I can make my ATC additional Axis and control it.
As much as I can understand carousel, it mainly controls ATC using GPIO, but as I have EtherCAT based Servo drive and Motor, I don't know how to use GPIO to control it.
If anyone has some Insight please suggest me and help me figure it out.
Regards
Abhishek
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14 Oct 2023 09:23 #282971
by andypugh
Replied by andypugh on topic ATC: carousel.comp with Servo drive
Does the ATC have sensors for tool position. or would it use the servo encoder?
The latest version of "carousel" has a "counts" mode where the feedback is stepgen steps or encoder counts. That ought to work with the servo in position control mode. It's probably best to work with a scale of 1 at the driver and tell carousel how many counts there are between pockets.
You can home to the encoder index, or to a sensor on the ATC.
I think you will be the first to try this, so feel free to come back if you need more help. Now that I have replied I should see other posts immediately.
The latest version of "carousel" has a "counts" mode where the feedback is stepgen steps or encoder counts. That ought to work with the servo in position control mode. It's probably best to work with a scale of 1 at the driver and tell carousel how many counts there are between pockets.
You can home to the encoder index, or to a sensor on the ATC.
I think you will be the first to try this, so feel free to come back if you need more help. Now that I have replied I should see other posts immediately.
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16 Oct 2023 12:39 #283123
by akg1904
Replied by akg1904 on topic ATC: carousel.comp with Servo drive
Hi Andy,
Thanks for the reply
As I have absolute servo encoder drive, I will not be using any sensors.
So I think I will have to keep track of encoder count.
I will come back again after some initial test.
Regards
Abhishek
Thanks for the reply
As I have absolute servo encoder drive, I will not be using any sensors.
So I think I will have to keep track of encoder count.
I will come back again after some initial test.
Regards
Abhishek
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- routerman22
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28 Feb 2024 16:16 #294699
by routerman22
Replied by routerman22 on topic ATC: carousel.comp with Servo drive
did you figure this out? I'm also eyeballing this
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29 Feb 2024 10:01 #294758
by TimP
Replied by TimP on topic ATC: carousel.comp with Servo drive
I also have EtherCAT setup and I have managed to do this using it as regular axis and some M code rewrite, as it shown by talla83 in his vids.
But i don't like that there is additional axis shown in ui, so would be happy to see it's done with carousel comp.
But i don't like that there is additional axis shown in ui, so would be happy to see it's done with carousel comp.
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- routerman22
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29 Feb 2024 10:32 #294760
by routerman22
Replied by routerman22 on topic ATC: carousel.comp with Servo drive
yeah my quick research afterwards showed me that you just need to do it in G-code. it is also simpler like that. And use that as your M6 remap. This is also how it is done in several industrial machines i looked at.
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- wellingtoncsouza
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27 Jun 2024 11:58 #303891
by wellingtoncsouza
Replied by wellingtoncsouza on topic ATC: carousel.comp with Servo drive
any news about this?
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- jimwhiting
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21 Aug 2024 14:56 #308299
by jimwhiting
Replied by jimwhiting on topic ATC: carousel.comp with Servo drive
I'm just starting the same task.
Leadshine EL8 drive with absolute encoder on a Haas SL-10 retro fit. (12 pocket carousel).
Leadshine EL8 drive with absolute encoder on a Haas SL-10 retro fit. (12 pocket carousel).
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- jimwhiting
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27 Aug 2024 10:33 #308783
by jimwhiting
Replied by jimwhiting on topic ATC: carousel.comp with Servo drive
Hi,
So I have the carousel module driving my ethercat servo. I have connected the index-enable and setup the drive to allow the homing mode onboard the drive (mode 3 to index to a home switch and then the Z signal off the encoder). This indexes to a single home switch which is present on a cam on the backside of the 12 tool carousel. This bit works great.
What doesn't work great so far is the home offset - it moves, but it is quite violent... I appear to be missing a setting to control the acceleration/velocity of the moves on the carousel. The settings I have found so far will slow it down during homing, but appear to not affect the position mode once homed.
Likewise I have the jog forwards and reverse working, however still quite violent compared to what I would like.
I'm missing something simple... (Drive has been tuned with the auto tune from Leadshine).
So I have the carousel module driving my ethercat servo. I have connected the index-enable and setup the drive to allow the homing mode onboard the drive (mode 3 to index to a home switch and then the Z signal off the encoder). This indexes to a single home switch which is present on a cam on the backside of the 12 tool carousel. This bit works great.
What doesn't work great so far is the home offset - it moves, but it is quite violent... I appear to be missing a setting to control the acceleration/velocity of the moves on the carousel. The settings I have found so far will slow it down during homing, but appear to not affect the position mode once homed.
Likewise I have the jog forwards and reverse working, however still quite violent compared to what I would like.
I'm missing something simple... (Drive has been tuned with the auto tune from Leadshine).
###############
# Carousel 0 #
###############
setp cia402jpw.2.csp-mode 1
setp cia402jpw.2.pos-scale 100
#setp cia402jpw.2.velo-scale 10
setp cia402jpw.2.ini-ferror [JOINT_2]FERROR
setp cia402jpw.2.ini-min-ferror [JOINT_2]MIN_FERROR
#from servo(ethercat) to cia402
net 2-statusword lcec.0.2.cia-statusword => cia402jpw.2.statusword
net 2-opmode-display lcec.0.2.opmode-display => cia402jpw.2.opmode-display
net 2-drv-act-pos lcec.0.2.actual-position => cia402jpw.2.drv-actual-position
net 2-drv-act-velo lcec.0.2.actual-velocity => cia402jpw.2.drv-actual-velocity
#from cia402 to servo(ethercat)
net 2-controlword cia402jpw.2.controlword => lcec.0.2.cia-controlword
net 2-modes-of-operation cia402jpw.2.opmode => lcec.0.2.opmode
net 2-drv-target-pos cia402jpw.2.drv-target-position => lcec.0.2.target-position
net 2-drv-target-velo cia402jpw.2.drv-target-velocity => lcec.0.2.target-velocity
# Carousel connections
net 2-carousel-home carousel.0.index-enable cia402jpw.2.home
#net 2-enable carousel.0.active cia402jpw.2.enable
net 2-pos-cmd carousel.0.counts-target cia402jpw.2.pos-cmd
net 2-pos-fb-s32 carousel.0.counts conv-float-s32.0.out
net 2-pos-fb conv-float-s32.0.in <= cia402jpw.2.pos-fb
net 2-vel-cmd carousel.0.motor-vel cia402jpw.2.velocity-cmd
setp carousel.0.fwd-dc 0.01
setp carousel.0.rev-dc -0.01
setp carousel.0.decel-time 1
setp carousel.0.align-dc 0
setp carousel.0.scale 100
setp carousel.0.home-offset 10
# END
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29 Aug 2024 04:27 #308919
by spumco
Andy Pugh may chime in a more accurate response, but I think carousel.comp doesn't manage velocity or accel/decel when set to 'counts' mode and the counts-target pin is used.
In the velocity modes fwd-dc, rev-dc, align-dc pins all affect the motor velocity, but there don't appear to be specific accel/decel settings.
If you read the online manual (I suspect you've done so already), 'counts' mode can be used as either a position or velocity command. I suspect that because you are using the counts-target pin via ethercat the servo sees a position command and moves there (and stops) at fastest possible speed.
In my counts-mode carousel config the position is sent to a stepgen (itself in position mode), and the stepgen runs at the max values. So velocity & accel are adjusted in the stepgen setting, not with carousel.comp pins or parameters.
So I think in your case the easiest thing would be to adjust the servo drive to limit the max velocity and accel. You'd treat the servo drive essentially like I'm using my stepgen settings.
An alternative would be to put your servo in velocity mode - like a 'dumb' motor - and switch your carousel config to output a velocity & direction command to a PID component, and the PID output is sent to the drive. Velocity & accel would be adjusted in the PID.
Replied by spumco on topic ATC: carousel.comp with Servo drive
What doesn't work great so far is the home offset - it moves, but it is quite violent... I appear to be missing a setting to control the acceleration/velocity of the moves on the carousel. The settings I have found so far will slow it down during homing, but appear to not affect the position mode once homed.
Likewise I have the jog forwards and reverse working, however still quite violent compared to what I would like.
Andy Pugh may chime in a more accurate response, but I think carousel.comp doesn't manage velocity or accel/decel when set to 'counts' mode and the counts-target pin is used.
In the velocity modes fwd-dc, rev-dc, align-dc pins all affect the motor velocity, but there don't appear to be specific accel/decel settings.
If you read the online manual (I suspect you've done so already), 'counts' mode can be used as either a position or velocity command. I suspect that because you are using the counts-target pin via ethercat the servo sees a position command and moves there (and stops) at fastest possible speed.
In my counts-mode carousel config the position is sent to a stepgen (itself in position mode), and the stepgen runs at the max values. So velocity & accel are adjusted in the stepgen setting, not with carousel.comp pins or parameters.
So I think in your case the easiest thing would be to adjust the servo drive to limit the max velocity and accel. You'd treat the servo drive essentially like I'm using my stepgen settings.
An alternative would be to put your servo in velocity mode - like a 'dumb' motor - and switch your carousel config to output a velocity & direction command to a PID component, and the PID output is sent to the drive. Velocity & accel would be adjusted in the PID.
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