TB0452 Ecoline using RSAutomation EtherCAT setup notes

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.

ecoline, RSAutomation, EtherCAT

Technical Bulletin

TB Number:	0452
Originator:	Gareth Green
Machine:	Ecoline with winMulti
Date:	23/07/19
Circulate to:	Service;
Title:	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

The drive needs to be set to mode 8. This is done by entering CoE Online tab for the drive and searching for 0x6060.

1. Highlight it and click “Add to Startup”
2. In the Data (hexbin) space, type “08”
3. Click OK
4. Repeat for all drives
5. Activate configuration
6. Check this is set correctly by checking the “Modes of Operation” output from drive

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.

Running on 3 phase blew up the drive! So stick to single phase

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 value =2 . This can be added to startup

Rotation Direction

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

Following Errors

The drives have a default following error of

This needs to be scaled and set to the correct following error for each axis:

Axis	Scale	Fol Error (mm)	Value for 0x2314
X	157129	10	1571290
Y	839113	5	4195565
Z	839113	5	4195565
G	1678226	5	8391130
V	839113	5	4195565
R		5

Gains

1. Run axis in reversing mode to check for resonance at various speeds
2. In RSWare, adjusted inertia ratio (Parameter 0.04) to improve resonance
3. Fine tuned resonance with P-Gain (1.02) and I-Gain (1.03)
4. 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.

en none 0

Draft