sinking or sourcing remote enable kollmorgen drive

Hello all.

I would like to get some other eyes on this. I have a new build going i.e. 5i25 with 7i77 and 7i75 BOB. Its similar to the wiki example only I have Kollmorgen CD Servo drives & motors. I’m looking at pin 7 and 8 on connector C3 for 24v power and remote enable. If my understanding of sourcing & sinking is correct it looks like the enable on pin 8 needs to sink on the 7i77 output. But my 7I77 has sourcing outputs. If this true I will need to work around this issue perhaps using the 7I75 BOB and some HAL trickery. This is my first build everything is nearly all wired up on a bench setup, getting ready to run Pncconfig. I've attached a .jpg with some clips from the manual. Thanks in advance for any help.

On my BP knee mill Anilam drives I just used a relay to enable the drives as they needed to be grounded to enable them.

JT

Normally you use the enable outputs on the 7I77 for drive enable. These are floating Optocoupler outputs so can work for sourcing or sinking.

So

Drive pin 8 --> P5 ENAN+ --> P5 ENAN- --> 24VRTN

Thank you all.

Hello all,

It’s been a couple of months. I needed to complete the rest of the machine integration before running Pnconfig. I’ve tested the x-axis motor & drive combo using Kollmorgens firmware “MotionLink”. There’s a lot of parameters and tuning variables in those drives, sooo many I decided to try the auto tune function. I believe it got me in the ballpark. The x-axis is stable and I can jog it at a more than reasonable speeds. My thought is to use auto tune function to tune the drives in serial velocity mode, then set the drive to Analog Velocity mode and save all tuning parameters in the drive, then, use linuxcnc to “fine” tune on top of the firmware tuning. Please let me know if this is a path to nowhere!

I’ve just successfully completed Pncconf and am following the initial steps laid out by Tommylight’s How to tune Procedure (very nicely done). I’m working on only X-axis, the encoder equivalent output from the drive seems to be working good, I move the motor shaft and the DRO in linuxcnc responds accordingly. I’m now trying to enable the drive using the F2 keyboard key. But the drive doesn’t enable. I must still be getting something wrong with the wiring even with Peter’s earlier help (see his earlier post). I’ve attached several files hopefully they will help.

And of course, THANKs for the help!. This is a project I’ve been wanting and waiting to do for nearly 18 years.

Doug Crews wrote: My thought is to use auto tune function to tune the drives in serial velocity mode, then set the drive to Analog Velocity mode and save all tuning parameters in the drive, then, use linuxcnc to “fine” tune on top of the firmware tuning. Please let me know if this is a path to nowhere!

No, that sounds right. You need to tune the internal velocity loop in the drives before you can tune the position loop in LinuxCNC. And that is the process you are describing.