Servo drive config and first movement

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2 years 10 months ago #288448 by tommylight
Replied by tommylight on topic Servo drive config and first movement
No
Yes
:)
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2 years 10 months ago #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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2 years 10 months ago #288488 by tommylight
Replied by tommylight on topic Servo drive config and first movement
You did not mention encoder! :)
Glad you figured it out and reported back, thank you.
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2 years 10 months ago #288506 by TimP
Replied by TimP on topic Servo drive config and first movement
yeah that is true, i thought this days everything comes with encoder and it is not an option anymore 

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2 years 10 months ago - 2 years 10 months ago #288586 by TimP
Replied by TimP on topic Servo drive config and first movement
Maybe not EtherCAT specific. but why my axis.x.pos-cmd get bigger after restart on amount of cia402.0.pos-fb.

So if axis.x.pos-cmd is 0.4 and cia402.0.pos-fb is 0.2 then after LinuxCNC restart axis.x.pos-cmd will be 0.6 and more restart you do more it add.
 

Code:
net emc-enable => iocontrol.0.emc-enable-in sets emc-enable 1 #config # # Joint 0 # setp cia402.0.csp-mode 1 setp cia402.0.pos-scale [JOINT_0]SCALE #from servo(ethercat) to cia402 net 0-statusword lcec.0.0.cia-statusword => cia402.0.statusword net 0-opmode-display lcec.0.0.opmode-display => cia402.0.opmode-display net 0-drv-act-pos lcec.0.0.actual-position => cia402.0.drv-actual-position net 0-drv-act-velo lcec.0.0.actual-velocity => cia402.0.drv-actual-velocity #from motion to cia net 0-home-index <= joint.0.index-enable => cia402.0.home net 0-enable <= joint.0.amp-enable-out => cia402.0.enable net 0-amp-fault => joint.0.amp-fault-in <= cia402.0.drv-fault net 0-pos-cmd <= joint.0.motor-pos-cmd => cia402.0.pos-cmd net 0-pos-fb => joint.0.motor-pos-fb <= cia402.0.pos-fb #net 0-home lcec.0.0.in-5 => joint.0.home-sw-in #from cia402 to servo(ethercat) net 0-controlword cia402.0.controlword => lcec.0.0.cia-controlword net 0-modes-of-operation cia402.0.opmode => lcec.0.0.opmode net 0-drv-target-pos cia402.0.drv-target-position => lcec.0.0.target-position  
Last edit: 2 years 10 months ago by TimP.

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2 years 3 months ago #306611 by Sandro
Replied by Sandro on topic Servo drive config and first movement
Hi Tim

I am having the same issue. Have you figured this one out?

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