We confirm that Panasonic AC Servo driver can run normally in KPA EtherCAT Master INtime.

Transcription

1 Panasonic AC Servo driver RSI-ECAT-Master Checking Operation Report 1. Result of Opration We confirm that Panasonic AC Servo driver can run normally in KPA EtherCAT Master INtime. 2. Standard by which we judge as normal operation in KPA EtherCAT Master INtime <Evaluation Item1> Can acknowledge as slave and can attach <Evaluation Item2> Can use Mailbox of CoE and can change settings <Evaluation Item3> Can move from INIT to Operational <Evaluation Item4> Can initialize servo driver <Evaluation Item5> Can do normal rotation of servo driver <Evaluation Item6> Can stop servo driver <Evaluation Item7> Can do reverse rotation of servo driver <Evaluation Item8> Can change velocity settings of servo driver <Evaluation Item9> Can do a series of operation by CiA402 multipurpose sample program 3. Operation Configuration - 1 -

2 4. Software Configuration 5. Envrionment Construction Introduced Network card Intel Pro/1000 PT Server Adapter to PC. Connected Panasonic Servo Driver / Motor and PC via EtherCAT with network cable which is more than Cat5. Connected Panasonic Servo Driver / Motor with PC by USB cable to use PANATERM which is Panasonic Servo Driv er setting tool. After confirming that wiring is connected correctly, turned on the power of PC and Panasonic Servo Driver This time we changed settings of limit sensor normal rotation from B contact (07(SI2) POT_B) / reverse rotation (08(SI3) NOT_B) to A Contact (POT_A / NOT_A), from menu->others->pin Assign Settings uisng PANATERM ver.5.0 (*1)so as to evaluate it without limit sensor. (*1) PANATERM ver 5.0 : It is a Windows tool for set / monitor Panasonic Servo Driver 6. <Evaluation Item1> Can acknowledge as slave and can attach 1 Allocate ESI File Panasonic provided on the slave library folder (*1). (*1 slave library folder : C: ProgramData KPA EtherCAT Studio slavelib ) - 2 -

3 2 Started RSI-ECAT-Studio in order to detect / evaluate Panasonic Servo Driver Slave. 3 Executed attach button for Slave from KPA RSI-ECAT-Studio Display. 4 Confirmed that Panasonic Servo Driver was added to the slave information tree of RSI-ECAT-Studio. Result : Judge as normal becuase Panasonic Servo Driver was detected. 7. <Evaluation Item2> Can use Mailbox of CoE and can change settings 1Moved Master State from INIT to Pre-Operetional using State tab in RSI-ECAT-Studio from the state of <Evaluation Item1>. Confirmed the change of Master State on State tab in RSI-ECAT-Studio. 2Selected Panasonic Servo Driver on slave information tree, then selected CoE function on Mailbox Tab. 3Confirmed whether the following settings are reflected or not from the list of the object dictionary read by CoE. Setting Item OD Index Value Init Value Result Target Velocity 6081h (Command Unit / s) Acceleration 6083h (Command Unit / s) Deceleration 6084h (Command Unit / s) 4Confirmed the values corretly changed or not by refreshing the values on RSI-ECAT-Studio. Result : Judge as normal because set values were reflecdted (updated). 8. <Evaluation Item3> Can move from INIT to Operational 1After requesting to move Master State / Slave State from Pre-Operetional to Operational from the state of <Evaluation Item1>. Confirmed whether master and slave moved from Pre-Operetional to Operational. 2Confirmed the change of Master State / Slave State on State tab in RSI-ECAT- Studio. Result : Judge as normal because all master and slave were moved to Operational

4 9. <Evaluation Item4> Can initialize Servo Driver 1Requested transition command of the state of Servo Drivor from Operational state of master and slave in <Evaluation Item3>. < Transition of Servo Drivor State 1 Initialization Completion 7 2 Main Circuit Power OFF 6 3 Servo Ready 5 4 Servo ON 2Request to move from state of Initialization Completion to state of Main Circuit Power OFF Initialization Completion (70h) Controlword : 6h Main Circuit Power OFF (31h) Main Circuit Power OFF (31h) 3Request to move from state of Main Circuit Power OFF to state of Servo Ready Main Circuit Power OFF (31h) Controlword : 7h Servo Ready (33h) Servo Ready (33h) 4Request to move from state of Servo Ready to state of Servo ON Servo Ready (33h) Controlword : Fh Servo ON (37h) Servo ON (37h) 5Request to move from state of Servo ON to state of Servo Ready Servo ON (37h) Controlword : 7h Servo Ready (33h) Servo Ready (33h) 6Request to move from state of Servo Ready to state of Main Circuit Power OFF Servo Ready (33h) Controlword : 6h Main Circuit Power OFF (31h) Main Circuit Power OFF (31h) 7Request to move from state of Main Circuit Power OFF to state of Initialization Completion Main Circuit Power OFF (31h) Controlword : 0h Initialization Completion (70h) Initialization Completion (70h) Result : Judge as normal because could move state of Servo Driver to Servo ON and be torqued,and could re turn to state of Initialization Completion

5 10. <Evaluation Item5> Can do normal rotation of servo driver 1Set Mode of Operation of PI as 1: PP Control (Profile position mode) from the state of <Evaluation Item4> 2Set as the position information value on Target Position of PI. 3Changed Controlword of PI from Fh to 1Fh and started the operation. 4Confirmed Position Actual Value of PI and the value was within approximate quantity of Result : Judge as normal because could do normal rotation and the value PDI : Position Actual Value was wit hin the approximate quantity. 11. <Evaluation Item6> Can stop servo driver 1Set as the position information value on Target Position of PI from the state of <Evaluation Item5>. 2Changed Controlword of PI from Fh to 1Fh and started the operation. 3Immediately after that, changed Controlword of PI to 1Bh in order to check it can stop or not. Result : Judge as normal because could stop immediately. 12. <Evaluation Item7> Can do reverse rotation of servo driver 1Set 0 as the position information value on Target Position of PI from the state of <Evaluation Item6>. 2Changed Controlword of PI from Fh to 1Fh and started the operation. 3Confirmed Position Actual Value of PI and the value was within approximate quantity of 0. Result : Judge as normal because could do reverse rotation and the value PDI : Position Actual Value was wit hin the approximate quantity. 13. <Evaluation Item8> Can change velocity speed settings of servo driver 1Selected Panasonic Servo Driver on slave information tree, then selected CoE function on Mailbox Tab from the state of <Evaluation Item7>. 2Watched the change of each speed by changing target velocity (6081h).. * After reaching the target position , returned to 0. OD Name Index Set Value Check Operation Result Target Velocity 6081h Confirmed motor rotation with low velocity Target Velocity 6081h Confirmed motor rotation with high velocity Result : Judge as normal because servo motor ran according to the velocity. 14. <Evaluation Item9> Can do a series of operation by CiA402 multipurpose sample program 1 Run the CiA402 multipurpose sample program. 2 Firstly start EtherCAT communication with operation mode : CSP Control (Cyclic synchronous position mode). 3 Confirmed a series of operation such as axis rotation - stop. Result : Judge as normal because a series of operation can be done

6 CiA402 Sample program code used in <Evaluation Item9> /***************************************************************************** * Description : CiA402 Motion Program Sample Cyclic Synchronous Position Mode * : (for Panasonic MADHT1507BA1) * Software : INtime RSI-ECAT \*****************************************************************************/ #include <stdio.h> #include <string.h> #include <rt.h> #include <EhApi.h> /***************************************************************************** * Description : CiA402 Servo Driver State Transition Process \*****************************************************************************/ WORD fnchgmotiongostate(word wostwd, WORD *pcrwd) { switch( (0x6F & wostwd) ) { case 0: *pcrwd = (0xFF70 & *pcrwd) 0; break; // No Initialization -> Request Initialization case 0x40: /* (same as 0x60) */ // Initialization Completion -> Request Main Circuit Power OFF case 0x60: *pcrwd = (0xFF70 & *pcrwd) 0x06; break; // Main Circuit Power OFF -> Request Servo Ready case 0x21: *pcrwd = (0xFF70 & *pcrwd) 0x07; break; case 0x23: *pcrwd = (0xFF70 & *pcrwd) 0x0F; break; // Servo Ready -> Request Servo ON case 0x27: break; case 0x2F: break; // Servo ON State (Ready for operation) // In Abnormal Process case 0x28: *pcrwd = (0xFF70 & *pcrwd) 0x80; break; // Abnormal state -> Request Initialization return (0x6F & wostwd); /***************************************************************************** * Description : main Process \*****************************************************************************/ void main(int argc, char* argv[]) { WORD wostatus; WORD woreqstate = 0; WORD wonowstate = 0; - 6 -

7 EHHANDLE hapi; BYTE byvalue; WORD wostatasword; WORD wocontrolword; DWORD dwtargetpos = 0; SLAVE_DETAIL stslave; BYTE bysize; // Boot Check of RSI-ECAT (RSI-ECAT API Call) wostatus = EhGetEhNodeStatus("NodeA", 100); printf("ehgetehnodestatus() Status = %04xH\n", wostatus); printf("start check failed\n"); // RSI-ECAT API Dialog Handle OPEN (RSI-ECAT API Call) hapi = EhOpen("NodeA", &wostatus); printf("eh Handle Open failed\n"); // Master State Change Request (RSI-ECAT API Call) // MST_OPERATIONAL : to Operational wostatus = EhRqState(hAPI, MST_OPERATIONAL); printf("ehrqstate() failed. Status = %04xH\n", wostatus); // Check Process it can be moved to Operational State or not while(1) { // Get current Master State (RSI-ECAT API call) wostatus = EhGetState(hAPI, &woreqstate, &wonowstate); // Check whether it completed to move to Operational if( wonowstate == MST_OPERATIONAL ) { break; // Break because of success // Sleep for waiting for state change RtSleep(500); - 7 -

8 // Slave Detection : Set VendorID, ProductCode and RevisionNo for Panasonic Servo Driver memset(&stslave, 0, sizeof(stslave)); stslave.dwsize = sizeof(stslave); stslave.dwvendorid = 0x066F; stslave.dwproductcode = 0x515070a1; stslave.dwrevisionno = 0x ; wostatus = EhFindSlave(hAPI, &stslave); printf("ehfindslave() failed. Status = %04xH\n", wostatus); // Change CiA402 Operational Mode // 8 : CSP Controll (Cyclic synchronous position mode) Move to Cyclic Synchronous Position Mode byvalue = 8; bysize = 1; wostatus = EhWriteByte(hAPI, stslave.dwviosoutbaseoffset + 2, byvalue); printf("ehwritebyte() failed. Status = %04xH\n", wostatus); // To Servo ON in CiA402 Servo Driver State while(1) { wocontrolword = 0; // Wait for Cyclic process wostatus = EhWaitForCyclic(hAPI, WAIT_FOREVER); break; // Quit because cyclic process is broken off // Get current Serve Driver State (RSI-ECAT API Call) wostatasword = EhReadWord(hAPI, stslave.dwviosinbaseoffset + 2, &wostatus); printf("ehreadword() failed. Status = %04xH\n", wostatus); - 8 -

9 // Call function which transit from current Servo Driver state to next Server Driver State wostatus = fnchgmotiongostate(wostatasword, &wocontrolword); if( wostatus == 0x27 ) { break; // Write the transition value of next Servo Driver (RSI-ECAT API Call) wostatus = EhWriteWord(hAPI, stslave.dwviosoutbaseoffset, wocontrolword); printf("ehwriteword() failed. Status = %04xH\n", wostatus); // Motor Operation Process while(1) { // Wait for Cyclic process wostatus = EhWaitForCyclic(hAPI, WAIT_FOREVER); break; // Quit because cyclic process is broken off // Request to move 1000 per loop EhWriteDword(hAPI, stslave.dwviosoutbaseoffset + 3, dwtargetpos); dwtargetpos += 1000; if(dwtargetpos > ) { break; printf("program end."); - 9 -