Servo drive config and first movement

Solvarg
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13 Dec 2023 17:09 #288056 by Solvarg

Replied by Solvarg on topic Servo drive config and first movement

So after the first
short M press you see: DXX.XX
the next press you see: PXX.XX
the next press you see what?

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TimP
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13 Dec 2023 17:49 #288060 by TimP

Replied by TimP on topic Servo drive config and first movement

DXX.XX

so there are only two options
D and P

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Solvarg
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13 Dec 2023 19:26 #288064 by Solvarg

Replied by Solvarg on topic Servo drive config and first movement

Amazing, how can they ship the product without documentation?
It is practically unusable...

So it's just to wait and see, when and if.

I would return the stuff

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TimP
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14 Dec 2023 14:49 #288129 by TimP

Replied by TimP on topic Servo drive config and first movement

This is what i have found using `ethercat upload` command from console.
Those where is ? i'm not sure about description. Those where is no description i cannot match them with anything from user manual. Value is in hex and after space in 10(normal system).

Those addresses different from user manual and also different from generated SDO from driver by `ethercat sdo` command. Also i have written to support, maybe they will help with something.

As you can see for most values are correct for my motor even in those places where i haven't changed them from previous attempts to fix it. Also value could be set in different units, like rated pawer set in 0.01 KW so it be 40 for 400W

0x2000 01 Motor ID 0xc350 50000
0x2000 02 Driver ID? 0x0012 18
0x2000 03 MCU Software version number 0x0fb0 4016
0x2000 06 Driver hardware version 0x012c 300
0x2000 08 Non standart version? 0x3a 58
0x2000 17 Non standart version 0x9e9c 40604
0x2000 18 Rated power 0x0028 40
0x2000 19 Rated voltage 0x00dc 220
0x2000 1a 0xc350 50000
0x2000 1b 0xc350 50000
0x2000 1c 0xc350 50000
0x2000 1d 0xc350 50000
0x2000 1e 0xc350 50000
0x2000 1f 0xc350 50000
0x2000 20 Rated current 0x0015 21
0x2000 21 Rated speed 0x0bb8 3000
0x2000 22 Maximum speed 0x1388 5000
0x2000 23 Rated torque 0x007f 127
0x2000 24 Maximum torque 0x017e 382
0x2000 25 Moment of inertia-JM 0x003f 63
0x2000 26 Motor pole pairs 0x0005 5
0x2000 27 Stator resistance 0x1bbc 7100
0x2000 28 Stator inductance-Lq 0x05aa 1450
0x2000 29 Stator inductance-Ld 0x05aa 1450
0x2000 2a 0x0012 18
0x2000 2b 0x0012 18
0x2000 2c 0x0012 18
0x2000 2d 0x0012 18
0x2000 2e 0x0012 18
0x2000 2f 0x0012 18
0x2000 30 Linear back-EMF coefficient 0x0dca 3530
0x2000 31 Torque coefficient-Kt 0x0037 55
0x2000 32 Electrical time constant-Te 0x0168 360
0x2000 33 Mechanical time constant-Tm 0x0168 360
0x2000 35 Encoder Type 0x0002 2
0x2000 38 Absolute encoder resolution 0x0011 17
0x2000 3a 0x0fb0 4016
0x2000 3b 0x0fb0 4016
0x2000 3d 0x0fb0 4016
0x2000 3c 0x0fb0 4016
0x2000 3e 0x0fb0 4016
0x2000 3f 0x0fb0 4016
0x2000 56 Encoder version? 0x000a 10

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Solvarg
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14 Dec 2023 20:06 #288155 by Solvarg

Replied by Solvarg on topic Servo drive config and first movement

Are you able to determine what state the drive is in?
Init, Pre-op, Safe-op or Op?
Believe it's 5.3.3 in the manual..

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TimP
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14 Dec 2023 20:49 #288162 by TimP

Replied by TimP on topic Servo drive config and first movement

it is in OP mode with Cyclic Synchronous Position Mode (CSP)

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TimP
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15 Dec 2023 20:37 #288270 by TimP

Replied by TimP on topic Servo drive config and first movement

seems like 750w drivers will go home, not because i cannot configure them, but because they have sent me not EtherCAT capable, 4 drivers, i'm shocked. At least 400w is EtherCAT

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TimP
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17 Dec 2023 21:06 #288437 by TimP

Replied by TimP on topic Servo drive config and first movement

tell me something smart people, does it matter how those three leads from motor are connected to driver?
Does it work same as all other motors where if you change 2 leads out of 3 it will only change direction of rotation, but still will be ok?

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tommylight
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18 Dec 2023 02:08 #288448 by tommylight

Replied by tommylight on topic Servo drive config and first movement

No
Yes

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TimP
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18 Dec 2023 10:29 #288476 by TimP

Replied by TimP on topic Servo drive config and first movement

Well i guess it is not, because there is encoder. I have changed two leads and now it is working as it should and doesn't trip in to an error.

My assumption is that driver tell to turn CCW and encoder shows that it turns CW. and driver goes crazy and throw an error.
And now why it's happened, all leads are marked with UVW, on motor side and on cable extension side and V,U are doesn't match with what is on motor. And i as according to markings have connected V to V U to U and W to W, but 2 wires in connector are wrongly placed.

So solutions is to connect motor correctly to driver and if it does trip in to an error switch two wires to change direction of rotation.

Thnx everybody for ideas. thread is closed

The following user(s) said Thank You: tommylight

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