Regarding Control of Beckhoff motor using EL7201 module

2020-04-20T15:32:17.839000Z

Hi,
not a problem of the project,
guess you need to tune the drive by the drive tool which is in this case Twincat.
BR
Edwin

Regarding Control of Beckhoff motor using EL7201 module

2020-04-20T07:08:08.778000Z

Hello Edwin,

We had replaced the POU call from the main task to the ethercat task as suggested by you.

after that when I triggered enable from MC_Power block motor start vibrating at the same position and warning led turns on after 1 sec on Beckhoff module.

I have attached the program, Kindly suggest changes if any.

Thanks and Regards,
Kunjesh

Regarding Control of Beckhoff motor using EL7201 module

2020-04-15T06:51:24.916000Z

without looking deeper into the project,
you need to call the motion fb's in the Ethercat Master task context.

BR
Edwin

Regarding Control of Beckhoff motor using EL7201 module

2020-04-15T06:13:12.481000Z

Hello Edwin,

I followed the same procedure. In the newer version: 3.5 SP15. RPi: 3B.

Beckhoff Hardware: EL1100 + EL7211

Using SMC_Startup_drive MC_PWR enable was a success. But we are notable to perform MC_job. Block goes to command_abort. SMC_Axis_is_not_ready_for_motion.

My assumptions:
Possibly axis is bust with another function block. As the busy bit of MC_power block remains high.

MC_Reset block work and we are able to reset if any error pops up.

I have attached the project. Can you guide or point out missing step?

Thanks and Regards,
Manan

Regarding Control of Beckhoff motor using EL7201 module

2020-02-27T14:02:06.974000Z

Hello Edwin,

I would like to thank you for pointing out my mistake. It was because , i did not add the Axis deceleration speed , so it was giving invalid velacc error in MC_Move_Absolute block.

The system is working fine, but the issue is when i stop the system and log out of the pie. When i again start it by logging in , the EL7201 will show not working. But when i go to the configuration settings and then again start the system , it work fine again. ( So when i delete the PLC data it works. Any solution to Stop this fro happening?)

Best Regards,
Malav

Regarding Control of Beckhoff motor using EL7201 module

2020-02-27T14:02:06.569000Z

Hi Malav,

at the Moment I could not see any Problem in your project,
could you check the following variables in the watchwindow
Drive.strDriveInterfaceError
Drive.fbeFBError

if this does not help I need to check with my drive or we need to check online.

BR
Edwin

Regarding Control of Beckhoff motor using EL7201 module

2020-02-27T14:02:05.755000Z

Hello Edwin,

So I did the changes.
I am Attaching the project with the changes. So now in configuration mode , the motor is working fine. It has no issue in operation.
But while running through POU, it gives me the same issue. I can enable it , but when i want to run it using move_absolute , it doesn't move and the torque value does keep on changing continuously. Can it be due to ground not connected in the system? (I will have to wire the system for the same.)

BR,
Malav

test1.project [261.19 KiB]

Regarding Control of Beckhoff motor using EL7201 module

2020-02-27T14:02:05.478000Z

Hi,

I recommend two changes in your project.
1. Add TargetPosition to the PDO's
2. Change in the generic device Editor view (Tools - Options - Device Editor-> Show generic device configuration)
FrameAtTaskStart ->true

BR
Edwin

Regarding Control of Beckhoff motor using EL7201 module

2020-02-27T14:02:05.186000Z

Hi ,

1) Yes I did change according to what you mentioned. The PDF was not opening in codesys (As it gave an error of referenced file not in that place) , so i did search on net and got some relevant PDF to it.
My drive does get active and does get enable , so I don't think it must be a DS402 Issue.

2) If required , I will use RT_Preempt or any other kernel to reduce the interpolation time. But right now I just want to control it using PI as a Medium from my computer.

I have attached my project, I have imported the start up parameters from Twin Cat Project , that project i am already using in my 2 and 3 axis system.

BR,
Malav

Codesys_Project1.project [262.13 KiB]

Regarding Control of Beckhoff motor using EL7201 module

2020-02-27T14:02:04.879000Z

Hi,
yes please attach the project.
- did you change the drive Firmware to ds402 as in the pdf is mentioned?
- You write Pi, you know that you need a realtime kernel for using ethercat and distributed clocks on the PI otherwise it will not work,
BR
Edwin

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