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Can I use motor encoder as reference encoder + external encoder as feedback as a closed loop control

Created by: douyi at: 7/12/2013 4:27 AM (22 Replies)

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7/12/2013 4:27 AM	Rate (0)
douyi Advanced Member Joined: 11/12/2012 Last visit: 12/2/2019 Posts: 16 Rating: (0)	Hi there, I thought T-CPU plus S120 could do that so I went ahead ordered what I need, the application is simple, just indexing but the problem is my customer need to use external encoder as feedback instead of motor encoder. My system has smart line module, CU320-2 DP, motor module with 1FT7 motor (absolute encoder) and SMC30 hook up to a TTL Incremental Encoder. I configured SMC30 as Encoder_2 in CU320 Drive configuration, set Profibus PZD message fram as "Siemens message frame 106", then in my TO I have one single axis that has two encoders, in ADS I select encoder_2, but when I try to run the servo it doesn't go. If I change to encoder_1 which is motor encoder in ADS, it works fine. Is there any problem in my configuration or I totally got it wrong? Any input will be appreicated! Regards, Douyi

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7/12/2013 5:57 AM	Rate (0)
viralpatel Silver Member Joined: 11/18/2010 Last visit: 12/10/2019 Posts: 522 Rating: (29)	douyi Hi there, I thought T-CPU plus S120 could do that so I went ahead ordered what I need, the application is simple, just indexing but the problem is my customer need to use external encoder as feedback instead of motor encoder. My system has smart line module, CU320-2 DP, motor module with 1FT7 motor (absolute encoder) and SMC30 hook up to a TTL Incremental Encoder. I configured SMC30 as Encoder_2 in CU320 Drive configuration, set Profibus PZD message fram as "Siemens message frame 106", then in my TO I have one single axis that has two encoders, in ADS I select encoder_2, but when I try to run the servo it doesn't go. If I change to encoder_1 which is motor encoder in ADS, it works fine. Is there any problem in my configuration or I totally got it wrong? Any input will be appreicated! Regards, Douyi Hi , you can do same thing for if motor encoder is used for Close loop and external encoder for reference i think it will not affect you final application requirement . Or can you please explain what is difference between my given option and your idea? VP

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7/12/2013 10:10 AM	Rate (0)
Technology Team Platinum Expert Joined: 10/11/2006 Last visit: 12/11/2019 Posts: 4071 Rating: (476)	Hello, normally you use DSC and itis only possiblewith themotorencoder. So the motorencoder should be the DSC-encoder in the configuration of the TO. Configuration:1 Axisdataset with motorencoder.2 Axisdataset with second encoder.Numberofencoder.DSCencodernumber is encoder 1 (motorencoder).It is necessary to fulfill the mechanic mask correct.Active Dataset after Start is Dataset 2. Then it should run.
	With best regards, Technology Team Application consulting and pre sales support for SINAMICS, SIMATIC Technology, SIMOTION, SIMOTICS and MOTION CONNECT
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7/12/2013 12:26 PM	Rate (0)
douyi Advanced Member Joined: 11/12/2012 Last visit: 12/2/2019 Posts: 16 Rating: (0)	Thanks for the reply. Please check attached pictures, I did the same as you described, when I switched to ADS2 the motor just stay where it is, no matter what motion command I gave; it doesn't trip the motor or drive though. Please help. Regards, Douyi Attachment ScreenShot.zip (145 Downloads)

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7/12/2013 1:20 PM	Rate (0)
Technology Team Platinum Expert Joined: 10/11/2006 Last visit: 12/11/2019 Posts: 4071 Rating: (476)	Hello, the configuration seems OK. Mybe it is necessary to decrease the Kv of the positioncontroller. Check configuration data (expert list) Numberofencoder.DSCencodernumber = 1 Activate Dataset1 (Motor encoder) Run the Axis with the control panel (Position Mode) of the TOAxis. Trace: positioningstate.commandposition positioningstate.actualposition sensordata.sensorData[2].position The second encoder should bring the positionchange you would expect. Same as positioningstate.commandposition Then Activate Dataset2 (Second encoder) and repeat. Maybe it is necessary to trace motionstatedata. commandvelocity/actualvelocity to analyse.
	With best regards, Technology Team Application consulting and pre sales support for SINAMICS, SIMATIC Technology, SIMOTION, SIMOTICS and MOTION CONNECT
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7/12/2013 1:20 PM
Technology Team Platinum Expert Joined: 10/11/2006 Last visit: 12/11/2019 Posts: 4071 Rating: (476)	Hello, the configuration seems OK. Mybe it is necessary to decrease the Kv of the positioncontroller. Check configuration data (expert list) Numberofencoder.DSCencodernumber = 1 Activate Dataset1 (Motor encoder) Run the Axis with the control panel (Position Mode) of the TOAxis. Trace: positioningstate.commandposition positioningstate.actualposition sensordata.sensorData[2].position The second encoder should bring the positionchange you would expect. Same as positioningstate.commandposition Then Activate Dataset2 (Second encoder) and repeat. Maybe it is necessary to trace motionstatedata. commandvelocity/actualvelocity to analyse.
	With best regards, Technology Team Application consulting and pre sales support for SINAMICS, SIMATIC Technology, SIMOTION, SIMOTICS and MOTION CONNECT
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7/12/2013 2:30 PM	Rate (0)
douyi Advanced Member Joined: 11/12/2012 Last visit: 12/2/2019 Posts: 16 Rating: (0)	It could be my mistake, seems I couldn't find "Numberofencoder.DSCencodernumber" in my expert list, check attached. Thanks. Attachment Snap18.zip (87 Downloads)

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7/12/2013 2:47 PM	Rate (0)
Technology Team Platinum Expert Joined: 10/11/2006 Last visit: 12/11/2019 Posts: 4071 Rating: (476)	Hello, in your expert list the register "selected parameters" is active. You find the value in the register "Configuration data".
	With best regards, Technology Team Application consulting and pre sales support for SINAMICS, SIMATIC Technology, SIMOTION, SIMOTICS and MOTION CONNECT
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7/12/2013 2:59 PM	Rate (0)
douyi Advanced Member Joined: 11/12/2012 Last visit: 12/2/2019 Posts: 16 Rating: (0)	Thanks, found it. The dscEncoderNumber is 1. I have ADS1 selected now, where can I see the Encoder2's actual position or actual counts? Thanks again.

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7/12/2013 3:05 PM	Rate (0)
Technology Team Platinum Expert Joined: 10/11/2006 Last visit: 12/11/2019 Posts: 4071 Rating: (476)	Systemvariable: sensordata.sensorData[2].position
	With best regards, Technology Team Application consulting and pre sales support for SINAMICS, SIMATIC Technology, SIMOTION, SIMOTICS and MOTION CONNECT
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