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Amplifier Fault ECT60 Closed Loop

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2 years 2 months ago - 2 years 2 months ago #308878 by Sandro
Replied by Sandro on topic Amplifier Fault ECT60 Closed Loop
Hi rodw

I was observing the same behaviour on my ect86. It works in open loop but stutters and outputs an amplifier fault in closed loop mode. The lights on the driver indicate an encoder out of tolerance alarm. In the same thread someone else also reported the same issue. Unfortunately I never figured it out.

forum.linuxcnc.org/ethercat/52669-rtelli...iver-encoder-setting
Last edit: 2 years 2 months ago by Sandro.
The following user(s) said Thank You: rodw

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2 years 2 months ago #308879 by rodw
Replied by rodw on topic Amplifier Fault ECT60 Closed Loop

Hi rodw

I was observing the same behaviour on my ect86. It works in open loop but stutters and outputs an amplifier fault in closed loop mode. The lights on the driver indicate an encoder out of tolerance alarm. In the same thread someone else also reported the same issue. Unfortunately I never figured it out.
 
Strange, my ECT86 machine was perfect from day 1 out of the box. And another user the same. I have 2 closed loop and one open loop on it. I think I better get the config off the machine and compare it with this, I don't trust what I have saved.... I will share it.

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1 year 8 months ago #321154 by rodw
Replied by rodw on topic Amplifier Fault ECT60 Closed Loop
So after throwing my ethercat stuff in the corner in disgust for six months or so ago, I pulled it out and finally fixed it!

I reset the drive to factory defaults by adding this into my xml file
Code:
<sdoConfig idx="1011" subIdx="01"><sdoDataRaw data ="01"/></sdoConfig>
Powered up Linuxcnc, homed the drive and tried to move it which sounded awful, then unplugged the power supply to the ECT60 ethercat drive.
Closed Linuxcnc and deleted that code from the XML file.

Hey presto running as smooth as a baby's bum!

The manual says 
Sub-index of object dictionary 0x1011: 01 Write 1, and then power on again to restore the driver to the factory state. When restoring the factory setting, first stop the motor running, then save the parameters. Thats roughly what I did!
The following user(s) said Thank You: tommylight

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1 year 2 months ago #333064 by joshualee777
Replied by joshualee777 on topic Amplifier Fault ECT60 Closed Loop
Hello, I reset the device to factory defaults as you advised, but the "Amplifier Fault" error still persists. Is it because the DC setting is not set correctly? I'm wondering if you have any other advice.

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1 year 2 months ago #333096 by Hakan
Replied by Hakan on topic Amplifier Fault ECT60 Closed Loop
I have three ECT60 and never had a problem. That's not any help of course, but I can offer my config.
Code:
<masters>   <master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">     <slave idx="0" name="X" type="generic" vid="00000a88" pid="0a880002" configPdos="true">       <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>       <sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="a0 0f"/></sdoConfig>  <!-- Max motor current (3.0A=b80b 4.0=a00f 5.0=8813) Rated=4.0A -->       <sdoConfig idx="2003" subIdx="0"><sdoDataRaw data ="64 00"/></sdoConfig>  <!-- Standby current percentage (100%) -->       <sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="01 00"/></sdoConfig>  <!-- Closed loop -->       <sdoConfig idx="2023" subIdx="1"><sdoDataRaw data ="a0 0f"/></sdoConfig>  <!-- Kp=4000 (def=2000) -->       <syncManager idx="2" dir="out">         <pdo idx="1600">           <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>           <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>           <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>           #<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>         </pdo>       </syncManager>       <syncManager idx="3" dir="in">         <pdo idx="1a00">           <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>           <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>           <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>           #<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>           #<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>         </pdo>       </syncManager>     </slave>

You don't need to go the detour with sdoconfig to reset to factory default. You can set the SDO directly with
Code:
ethercat download 0x1011 1 1
and there is an "ethercat upload" that works in a similar way if you want to check individual SDOs.
If you haven't done so, power cycle the drive afterwards reset to factory default.

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1 year 2 months ago #333112 by rodw
Replied by rodw on topic Amplifier Fault ECT60 Closed Loop

Hello, I reset the device to factory defaults as you advised, but the "Amplifier Fault" error still persists. Is it because the DC setting is not set correctly? I'm wondering if you have any other advice.
The only Amplifier faults I have seen with steppers is when the drive or the motor overheats (Non-ethercat).
With Ethercat it could be a following error reported by the drive throwing this. There is a Fault code for the ETC60 so bring that out in your xml file. It can take  a bit to decode as it is a bitmapped field. Display the field in halshow. Convert it to hex or binary which Google will do for you and refer to the docs.

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