Rookie: Ethercat Servos wont budge...
but i guess that the problem is servo configuration related.
yes, i actually had some movement tonight! however, i have no idea how :-D I've talked to the manufacturer and they said that the "Bus Cycle Time"-setting in the driver must match the one in the master....in the driver it says 3ms....there is a lot of timing-values in the xml-file, what is the correct settings to get 3ms "bus cycle time"?
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Your bus cycle time is 1ms. servo_tread and the equal = appTimePeriod .
Try to set the driver to 1ms.
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...which i spent a couple of hours trying to figure out WHY i cannot move it more than a few degrees...
I jog the axis and just as it crosses 0 the actual position changes a tiny bit...nothing happends beyond this... i've been thinking about overflows, softlimits, pid-values etc... but i need help with this one, i don't know where to start or look
![:-( :-(](/media/kunena/emoticons/sad.png)
Anyone got ideas?
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more information is needed.
What Encoders are this, what resolution, increments per round ....
Your scops show ~1,5 millions increments, why so much?
and please post the values of the following pins, at the same point in time.
lcec.0.4.sta-actualposition,
lcec.0.4.cmd-target-position,
joint.0.motor-pos-cmd,
joint.0.motor-pos-fb
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Change it to this and make a try
loadrt scale count=2
loadrt conv_s32_float count=2
loadrt conv_float_s32 count=2
#read Hardware
addf lcec.0.read servo-thread
# Add converters --> and scalers for input
addf conv-s32-float.0 servo-thread
addf scale.0 servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
#unused at the moment...
#addf conv-s32-float.1 servo-thread
#addf conv-float-s32.1 servo-thread
# Add scalers ---> and converters for output
addf scale.1 servo-thread
addf conv-float-s32.0 servo-thread
#write Hardware
addf lcec.0.write servo-thread
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<pdoEntry idx="607A" subIdx="00" bitLen="16" halPin="cmd-TargetPosition" halType="s32"/>
Hint: The encoder on the servo is a 24bit absolute encoder....and i've set the bitLen to 16bit? yeah... that is going to overflow preeeetty fast...i feel stupid using like more than a week of sparetime trying to debug this... but at least i learned a lot about HAL and Servos in general
![:-) :-)](/media/kunena/emoticons/smile.png)
I changed it to 32bit and the servo was (almost) literaly flying of my testbench! Note to self: Tie down those 2,2kW servos before trying again....yaiks...
Anyways, a HUGE thanks to db1981 for sticking with me and trying to figure out what was going on! It's really appreciated!
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