[etherlab-users] Commissioning an EL7201

[Weishaar, Philipp]

Hello everyone!


Currently I am trying to commission a EL7201-0000 with a AM3111-0300-0001 connected to it. My first step in this process is to get it running under TwinCAT 3. I would like to use the velocity control option and also have the position, velocity and torque returned to me. Up to this point it works quite nicely and I was able to export the configfile and also took note of the entries for 1C12 and 1C13.


The next step would be to write a generic slave for the Matlab/Simulink environment. At this point it starts to come apart. I am missing the information for the AssignActivate and DC. Unfortunately the command ethercat xml does not return the information for the AssignActivate. My question would be, does anyone have some insights that might help me with commissioning this axis? I enclosed the generic slave below.


Kind regards,


Philipp Weishaar


function rv = kleineAchse_test
%   Slave configuration

rv.SlaveConfig.vendor = 2;
rv.SlaveConfig.product = hex2dec('1C213052');
rv.SlaveConfig.description = 'EL7201-0000';


rv.SlaveConfig.sm = { ...
    {0, 0, {
        }}, ...
    {1, 1, {
        }}, ...
    {2, 0, {
        {hex2dec('1600'), [
            hex2dec('7010'), hex2dec('01'),  16; ...     %Controlword
            ]}, ...
        {hex2dec('1601'), [
            hex2dec('7010'), hex2dec('06'),  32; ...     %Target velocity
            ]}, ...
        }}, ...
    {3, 1, {
        {hex2dec('1a00'), [
            hex2dec('6000'), hex2dec('11'),  32; ...     % Position
            ]}, ...
        {hex2dec('1a01'), [
            hex2dec('6010'), hex2dec('01'),  16; ...     % Statusword
            hex2dec('6010'), hex2dec('07'),  32; ...     % Actual velocity
            hex2dec('6010'), hex2dec('08'),  16; ...     % Actual torque
            ]}, ...
        }}, ...
    };

rv.SlaveConfig.dc = [hex2dec('310'), 250000, 0, 0, 0, 0, 1000000, 0, 0, 0]; % DC values for time-step of 0.001 seconds

% SDO

rv.SlaveConfig.sdo = {
        hex2dec('1C12'),-1,  0,  [02,00,00,22,01,22]; %
        hex2dec('1C13'),-1,  0,  [04,00,00,26,01,26,02,26,03,26]; %
        %hex2dec('F081'),hex2dec('01'),32, 1376256; %
        hex2dec('8011'),hex2dec('11'),32,6000; % Max Current
        hex2dec('8011'),hex2dec('12'),32,3220; % Rated current
        hex2dec('8011'),hex2dec('13'),8,4; % Motor pole pairs
        hex2dec('8011'),hex2dec('15'),16,330; % Commutation Offset
        hex2dec('8011'),hex2dec('16'),32,50; % Torque constant
        hex2dec('8011'),hex2dec('18'),32,26; % Rotor moment of inertia
        hex2dec('8011'),hex2dec('19'),16,7; % Winding inductance
        hex2dec('8011'),hex2dec('1B'),32,4766; % Motor speed limitation
        hex2dec('8011'),hex2dec('2D'),16,200; % Motor thermal time constant
        hex2dec('8010'),hex2dec('12'),16,5; % Current loop integral time
        hex2dec('8010'),hex2dec('13'),16,83; % Current loop proportional gain
        hex2dec('8010'),hex2dec('14'),32,150; % Velocity loop integral time
        hex2dec('8010'),hex2dec('15'),32,46; % Velocity loop proportional gain
        hex2dec('8010'),hex2dec('19'),32,24000 % Nominal DC link voltage
    };

% Control word
rv.PortConfig.input(1).pdo = [2, 0, 0, 0];
rv.PortConfig.input(1).pdo_data_type = 1016;

% Velocity command value
rv.PortConfig.input(2).pdo = [2, 1, 0, 0];
rv.PortConfig.input(2).pdo_data_type = 2032;

% Actual Position
rv.PortConfig.output(1).pdo = [3, 0, 0, 0];
rv.PortConfig.output(1).pdo_data_type = 1032;

% Statusword
rv.PortConfig.output(2).pdo = [3, 1, 0, 0];
rv.PortConfig.output(2).pdo_data_type = 1016;

% Actual velocity
rv.PortConfig.output(3).pdo = [3, 1, 1, 0];
rv.PortConfig.output(3).pdo_data_type = 2032;

% Actual torque
rv.PortConfig.output(4).pdo = [3, 1, 2, 0];
rv.PortConfig.output(4).pdo_data_type = 2016;

end

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