EL72xx

Topics

  1. error/warning

error/warning

If the drive is in error/warning state and not possible to enable:

  • Missing power supply
  • STO tripped
  • Defect cable
  • Wrong/messy cabling between connector and actual terminal.

Tuning

** Always be prepared to “KILL” or estop the axes while performing tuning**

  • Make sure scaling factors are correct. Test by setting ecmc position controller parameters to 0 and perform a move. This move will basically be a openloop positioning. Normally still the actual and setpoint track very well during the move, if not, then scaling of drive or encoder is most likely wrong. Check gear ratios.
  • For most applications the defualt values for the current loop and velocity loop is good.
  • For slow motion, running slow, accurate and smooth, it could be beneficial to reduce velocity Kp and Ti in the drive.

Electrical installation Issues

Strange issues have occured if the OCT cable shielding is not kept intact until close to the terminal. Issues were ideified when the individual wires been mixed randomly in cable management trays inside a control cabinet. (with OCT connector on outside, then going to terminals, then single wires to EL72xx). This is not a good concept. Keep sheilding of encoder and motor cables also inside crate. The diagnostic buffer of EL72xx showed encoder related error messages.

OCT cable failure

Once identified defect OCT cable. Symptoms was frequent disabling of drive, going to fault state.