Gantry position feedback check on Ethercat
12 Apr 2024 08:15 #298048
by pavel7890
Gantry position feedback check on Ethercat was created by pavel7890
There is a setup of Indradrive Cs with MSK servos for 4 axis machine via SoE. There are two Y axis joints.
Lately I have experienced rather awkward situation, when one of the Y joints suddenly changed feedback position. Perhaps a M1 encoder multiturn issue, but I can not be certain. It is being investigated.
Now, is there any possibility to check within HAL setup a difference between both joints feedback? In case there would be a difference (e.g. 0.5mm), I have in mind a stop of the machine.
Lately I have experienced rather awkward situation, when one of the Y joints suddenly changed feedback position. Perhaps a M1 encoder multiturn issue, but I can not be certain. It is being investigated.
Now, is there any possibility to check within HAL setup a difference between both joints feedback? In case there would be a difference (e.g. 0.5mm), I have in mind a stop of the machine.
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12 Apr 2024 10:51 - 12 Apr 2024 10:55 #298055
by tommylight
Replied by tommylight on topic Gantry position feedback check on Ethercat
No need for hal--- just switch from world mode to joint mode, DRO shows both Y values there.
If they do change, se how much, see what joint is causing it, then use halscope if you need to find out exactly what is going on.
Edit:
Things that can cause that on tandem joints/axis:
Raked gantry
Rails not parallel
Encoder rust/wiring/interference
Encoder power marginally low or not clean
Mechanical issues binding/dirty rack-pinion/ loose bolts, loose motor-gearbox, to much pressure on rack, stripped belts, etc
If they do change, se how much, see what joint is causing it, then use halscope if you need to find out exactly what is going on.
Edit:
Things that can cause that on tandem joints/axis:
Raked gantry
Rails not parallel
Encoder rust/wiring/interference
Encoder power marginally low or not clean
Mechanical issues binding/dirty rack-pinion/ loose bolts, loose motor-gearbox, to much pressure on rack, stripped belts, etc
Last edit: 12 Apr 2024 10:55 by tommylight. Reason: more info
The following user(s) said Thank You: besriworld
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