Voir la source de TB0452 Ecoline using RSAutomation EtherCAT setup notes

{{Tuto Details
|Description=<translate>The Climatec Ecoline is the first to use RS Automation EtherCAT drives. This document is to record the issues raised by the transfer of the parameters and functions from one to another.</translate>
|Categories=Software
|Tags=ecoline, RSAutomation, EtherCAT
}}
<translate>= Technical Bulletin =
{| class="wikitable" border="1" cellspacing="0" cellpadding="0" width="673"
| width="118" valign="top" |'''TB Number:'''
| width="555" valign="top" |0452
|-
| width="118" valign="top" |'''Originator:'''
| width="555" valign="top" |Gareth Green
|-
| width="118" valign="top" |'''Machine:'''
| width="555" valign="top" |Ecoline with winMulti
|-
| width="118" valign="top" |'''Date:''' 
| width="555" valign="top" |23/07/19
|-
| width="118" valign="top" |'''Circulate to:'''
| width="555" valign="top" |Service;                                                                                                       
|-
| width="118" valign="top" |'''Title:'''
| width="555" valign="top" |Ecoline using RSAutomation  EtherCAT setup notes
|}

== Overview ==
The Climatec Ecoline is the first to use RS Automation EtherCAT drives. This document is to record the issues raised by the transfer of the parameters and functions from one to another

== Operation Mode ==
{{#annotatedImageLight:Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes Image1.png|0=659px|hash=|jsondata=|mediaClass=Image|type=frameless|align=center|src=https://stuga.dokit.app/images/9/9e/TB0452_Ecoline_using_RSAutomation_EtherCAT_setup_notes_Image1.png|href=./Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes Image1.png|resource=./Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes Image1.png|caption=|size=659px}}<br />{{#annotatedImageLight:Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes 2.png|0=303px|hash=|jsondata=|mediaClass=Image|type=frameless|align=right|src=https://stuga.dokit.app/images/0/05/TB0452_Ecoline_using_RSAutomation_EtherCAT_setup_notes_2.png|href=./Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes 2.png|resource=./Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes 2.png|caption=|size=303px}}The drive needs to be set to mode 8. This is done by entering CoE Online tab for the drive and searching for 0x6060.

# Highlight it and click “Add to Startup”
# In the Data (hexbin) space, type “08”
# Click OK
# Repeat for all drives
# Activate configuration
# Check this is set correctly by checking the “Modes of Operation” output from drive
{{#annotatedImageLight:Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes 3.png|0=659px|hash=|jsondata=|mediaClass=Image|type=frameless|align=center|src=https://stuga.dokit.app/images/e/e2/TB0452_Ecoline_using_RSAutomation_EtherCAT_setup_notes_3.png|href=./Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes 3.png|resource=./Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes 3.png|caption=|size=659px}}

== Input Mains ==
•	Error 037 AC Line loss


Seems like the drives need 3 phase because they are over 400W. This conflicts with what the flowline drives are set up to, which work fine with just L1 and L2 wired.
{{Warning|this blew up the drive!}}


Problem was in the drive setup parameter for AC line loss – needs to be changed from enabled to “Single Phase” using RSWare.

This is also available on CoE parameter 0x2002:04. This can be added to startup

== Rotation Direction ==
{{#annotatedImageLight:Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes 7.png|0=575px|hash=|jsondata=|mediaClass=Image|type=frameless|align=center|src=https://stuga.dokit.app/images/0/04/TB0452_Ecoline_using_RSAutomation_EtherCAT_setup_notes_7.png|href=./Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes 7.png|resource=./Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes 7.png|caption=|size=575px}}


In Summary – set 0x2002:03 to 1 to reverse the direction. This can be added to startup
<br />

== Following Errors ==
The drives have a default following error of  {{#annotatedImageLight:Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes 5.png|0=648px|hash=|jsondata=|mediaClass=Image|type=frameless|align=center|src=https://stuga.dokit.app/images/7/7a/TB0452_Ecoline_using_RSAutomation_EtherCAT_setup_notes_5.png|href=./Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes 5.png|resource=./Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes 5.png|caption=|size=648px}}


This needs to be scaled and set to the correct following error for each axis:
<br />
{| class="wikitable" border="1" cellspacing="0" cellpadding="0" width="67%"
| width="24%" nowrap="" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:25">Axis</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:25">Scale</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:25">Fol Error (mm)</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:26">Value for 0x2314</ins>
|-
| width="24%" nowrap="" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:25">X</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:26">157129</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:26">10</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:26">1571290</ins>
|-
| width="24%" nowrap="" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:25">Y</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:26">839113</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:27">5</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:31">4195565</ins>
|-
| width="24%" nowrap="" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:25">Z</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:26">839113</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:27">5</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:31">4195565</ins>
|-
| width="24%" nowrap="" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:25">G</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:26">1678226</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:27">5</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:30">8391130</ins>
|-
| width="24%" nowrap="" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:25">V</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:27">839113</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:27">5</ins>
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:31">4195565</ins>
|-
| width="24%" nowrap="" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:25">R</ins>
| width="25%" valign="top" |
| width="25%" valign="top" |<ins cite="mailto:Gareth%20Green" datetime="2019-07-24T09:28">5</ins>
| width="25%" valign="top" |
|}

== Gains ==

# Run axis in reversing mode to check for resonance at various speeds
# In RSWare, adjusted inertia ratio (Parameter 0.04) to improve resonance
# Fine tuned resonance with P-Gain (1.02) and I-Gain (1.03)
# Removed following error by increasing Positional feed forward gain (3.02) from 0 to 100%. Seems too easy!

== Homing ==
Homing directions all wrong to start with. Same reversal procedure as normal beckhoff on the Axis->Enc->Parameters->Homing set. {{#annotatedImageLight:Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes 6.png|0=659px|hash=|jsondata=|mediaClass=Image|type=frameless|align=center|src=https://stuga.dokit.app/images/4/4f/TB0452_Ecoline_using_RSAutomation_EtherCAT_setup_notes_6.png|href=./Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes 6.png|resource=./Fichier:TB0452 Ecoline using RSAutomation EtherCAT setup notes 6.png|caption=|size=659px}}</translate>
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{{Tuto Status
|Complete=Draft
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