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<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>Hi,<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>I forgot to mention that I'm not using the
builtin homing functionality of the drive. I have found it too restrictive.<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>However, it was the homing parameters that
I was thinking of using as my own status indicator since they are not otherwise
being used.<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>Thanks,<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>Graeme.<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
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<p class=MsoNormal><b><font size=2 color=black face=Tahoma><span lang=EN-US
style='font-size:10.0pt;font-family:Tahoma;color:windowtext;font-weight:bold'>From:</span></font></b><font
size=2 color=black face=Tahoma><span lang=EN-US style='font-size:10.0pt;
font-family:Tahoma;color:windowtext'> Oguz Dilmac
[mailto:oguzdilmac@bilko-automation.com] <br>
<b><span style='font-weight:bold'>Sent:</span></b> Monday, 28 May 2012 21:47<br>
<b><span style='font-weight:bold'>To:</span></b> etherlab-users@etherlab.org<br>
<b><span style='font-weight:bold'>Cc:</span></b> Graeme Foot<br>
<b><span style='font-weight:bold'>Subject:</span></b> Re: [etherlab-users]
Detecting whether an amp has repowered</span></font><font size=3 color=black
face="Times New Roman"><span lang=EN-US style='font-size:12.0pt;font-family:
"Times New Roman";color:windowtext'><o:p></o:p></span></font></p>
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<p class=MsoNormal><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'>Hi Graeme,<br>
<br>
About homing status:<br>
At init sequence, I check the status word. In Schneider Lexium series, bit15
indicates wether Homing is done or not. <br>
If Yaskawa don't use such a bit, may be reading back the "Home
Offset" (0x607C) or "Homing Method" (0x6098) may suggest you if
you already done homing or not.<br>
<br>
Best regards,<br>
Oguz.<br>
<br>
</span></font><font color=navy><span style='color:navy'><o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'><br>
26.05.2012 08:54 tarihinde, Graeme Foot yazdı: <o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=black face=Calibri><span
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</xml><![endif]-->Hi,<o:p></o:p></span></font><u5:p></u5:p></p>
<p class=MsoNormal><u5:p><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'> <o:p></o:p></span></font></u5:p></p>
<p class=MsoNormal><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'>I would like to detect whether my Yaskawa SGDV amps
have been repowered (as opposed to just a loss of communication). Is there
any way to nicely do so?<o:p></o:p></span></font><u5:p></u5:p></p>
<p class=MsoNormal><u5:p><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'> <o:p></o:p></span></font></u5:p></p>
<p class=MsoNormal><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'>The amps have 32bit DC clocks so I can’t tell
based on the clock time.<o:p></o:p></span></font><u5:p></u5:p></p>
<p class=MsoNormal><u5:p></u5:p><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'>What I was thinking I could do was:<o:p></o:p></span></font><u5:p></u5:p></p>
<p class=MsoNormal><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'>- Set a unused value to a random number on startup
(via an sdo)<o:p></o:p></span></font><u5:p></u5:p></p>
<p class=MsoNormal><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'>- Read the value via a pdo<o:p></o:p></span></font><u5:p></u5:p></p>
<p class=MsoNormal><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'>If communications are up but the pdo based value does
not match the random number then the amp has been repowered. (Needs to be
a random number incase the amp settings get saved).<o:p></o:p></span></font><u5:p></u5:p></p>
<p class=MsoNormal><u5:p><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'> <o:p></o:p></span></font></u5:p></p>
<p class=MsoNormal><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'>The reason I would like to do this is that our
amps/motors have incremental encoders so if power is lost the axis position
gets reset to zero. However subsequent axes in the EtherCAT chain also
loose communications, but not their positions. Rather than having to
rehome the entire machine if there is a loss of comms to the amps I would only
like to rehome the repowered ones.<o:p></o:p></span></font><u5:p></u5:p></p>
<p class=MsoNormal><u5:p><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'> <o:p></o:p></span></font></u5:p></p>
<p class=MsoNormal><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'>This situation is particularly relevant when
commissioning the machine where changing certain configuration parameters
requires the amps to be repowered. It is also relevant where we have some
remote axes which may either loose comms or power and I need to know which case
it is.<o:p></o:p></span></font><u5:p></u5:p></p>
<p class=MsoNormal><u5:p><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'> <o:p></o:p></span></font></u5:p></p>
<p class=MsoNormal><u5:p><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'> <o:p></o:p></span></font></u5:p></p>
<p class=MsoNormal><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'>Also, to really quickly detect that an amp has lost
comms I’m reading the amps error code value via a pdo. If the amp
misses a frame the read values do not get written by the amp. So just
before I queue and send the amps domain information I set each amps errorcode
in the domain data to a value of 0xFFFF. Once I receive the response if
the value is still 0xFFFF then the amp has had a comms error.<o:p></o:p></span></font><u5:p></u5:p></p>
<p class=MsoNormal><u5:p><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'> <o:p></o:p></span></font></u5:p></p>
<p class=MsoNormal><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'>Is this a good way to do it, or is there a better way?<o:p></o:p></span></font><u5:p></u5:p></p>
<p class=MsoNormal><u5:p><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'> <o:p></o:p></span></font></u5:p></p>
<p class=MsoNormal><u5:p><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'> <o:p></o:p></span></font></u5:p></p>
<p class=MsoNormal><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'>Regards,<o:p></o:p></span></font><u5:p></u5:p></p>
<p class=MsoNormal><font size=2 color=black face=Calibri><span
style='font-size:11.0pt'>Graeme.<o:p></o:p></span></font><u5:p></u5:p></p>
<p class=MsoNormal><font size=3 color=black face="Times New Roman"><span
style='font-size:12.0pt;font-family:"Times New Roman"'><br>
<br>
<br>
<fieldset class="mimeAttachmentHeader"></fieldset><o:p></o:p></span></font></p>
<pre><font size=2 color=black face="Courier New"><span style='font-size:10.0pt'>_______________________________________________<o:p></o:p></span></font></pre><pre><font
size=2 color=black face="Courier New"><span style='font-size:10.0pt'>etherlab-users mailing list<o:p></o:p></span></font></pre><pre><font
size=2 color=black face="Courier New"><span style='font-size:10.0pt'><a
href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><o:p></o:p></span></font></pre><pre><font
size=2 color=black face="Courier New"><span style='font-size:10.0pt'><a
href="http://lists.etherlab.org/mailman/listinfo/etherlab-users">http://lists.etherlab.org/mailman/listinfo/etherlab-users</a><o:p></o:p></span></font></pre></div>
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