Dechirper: 

  • SOURIA 8-pin female connector
  • SOURIA 12-pin female connector


Motor:


Encoder:

  • Resolute Encoder part number: RL26BAE050D30A
    • RL: Resolute Linear
    • 26B: BISS 26 bit
    • A: Standard IP64
    • E: Gain option RELA
    • 050: Resolution 50 nm
    • D:  Scale code option RELA
    • 30: cable length 3.0m
    • A: 9 way D
  • Max reading speed:100m/s

Decoding BISS information:

  • run E201.exe 
  • Recommended frequency is 280kHZ or 560kHz (Decoding the BISS information pg1)



Male db connector making:

  • Strip wires (usually they're 26 gauge)
  • Check which wire is in which number on the female connector using vdm (voltmeter) 
  • Crimp the wire with the gold ends (the settings I used was 3)
  • Put it in the appropriate number on the male db connector, usually clicks in or can use plier to pull it in

Tests to run:

  • Move motor
  • Check if direction of motion is correct
  • Incremental and absolute motion, both directions
    • 1mm both directions initially
  • Run tests with motor speed, acceleration
  • Get encoder reading
  • Move incrementally & check if units is consistent with lead screw pitch
  • Offset the encoder limit
  • Check limit switch positions 
  • Check if running current is consistent with the expected
  • Check if CountsPerRev, StepperResolution, and CountsPerUnit are correct










To check why motor is not moving:

  • Switched wires to see if there are faults with the specific straight shot db9
  • No gnd connection on motor? 
  • Current feedback shows ~0, why? 
  • Unplugged, shows same response as plugged. Seems to be no power is being given to the motor
  • Check voltage output on controller, but wait for supervision
  •  Maybe current clamp is the issue? Higher initial current needed to get the motor moving?
  • Spec sheet says 4.24A/phase? What is phase in this situation


To do with Cory:

  • Check on controller if power supply is sufficient or as intended
  • Remove jumpers on breakout board (the only one to keep is for A- and then B-, they are jumped together in the chassis)
  • Check ohm's on wires, we shoudl be getting 0.7 ohms/phase, why are we not getting that? between A+ and A-
  •  

FIG 1: Configuring axis when parameters are not configuring 


FIG 2: Tuning an axis

Notes:

  • FeebackOffset if it's not inverted is -30.6606
  • I inverted velocityfeeback and positionfeedback and FeedbackOffset is 236.684

How did I get it to move:

  • motor→ axis parameter calc
  • most important might be:
    • StepperRunningCurrent = 4.24A
    • StepperHoldingCurrent= 2.12A


As for the closed loop one (main thing that fixed it):

  • Feedback → resolute → Commutation Initialization → DO not use absolute position


for tomorrow see if you can find what the linear stage is

Getting test stand to work with Servo:

  • Servo is better, more accurate than stepper 
  • Main thing was changing the configuration in axis configuration
  • Need hall effect sensors to be connected I believe 








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