I am experimenting with a setup which consists of an EnDat 2.1 encoder (Heidenhain EQN1325) connected on an ACOPOS 1045 drive with an AC120.60-1 module.
The normal behavior would be that the LEDs of the AC120.60-1 module light up depending on the rotation direction of the encoder, this is however not the case.
Thus, the question is at what stage the communication with the encoder starts. Is it necessary for the drive to start applying current to the motor in order to start getting feedback from the encoder or is it sufficient to start the Watch function in Automation Studio in order to monitor the Axis in real-time and read encoder values?
Communication with the ACOPOS drive occurs via CAN BUS and works flawlessly.
You are right about the encoder and I noticed this in the datasheet too, excuse me for mentioning the wrong type. I thought the 2 standards are backwards compatible.
This is correct, Endat 2.1 is partially analog, therefore I was wondering if I could utilize EQN 1325 as an incremental encoder just with its analog/incremental signals:
In any case, to perform this test, it will be necessary to change the parameter ENCOD_INC_MODE to 4 since a reference pulse is missing in this scenario, but I don’t see it in the config. page of 8AC120.60-1:
it looks like that this encoder comes with an optional sin/cos signal (1Vss).
This is an incremental information only. This signal can be read in by 8AC120, of course. Just multiply the number of sinus periods (‘Striche’) by 16384.
You can of course also write all parameters via an ACOPOS parameter table. You can also use the NWCT trace to see which parameter values the configuration transfers.
Good morning Christoph and thank you for clarifying further on this.
I have defined the necessary parameters as a parameter table, I am however getting the following error and finding the cause seems more complicated than initially expected:
The reason was that I defined the parameters in the .apt file of the axis. It was necessary to create a separate .apt file to make the error disappear.
The encoder is still not giving any feedback though.
In the network command trace, there is no information regarding the parameters of the encoder I defined.
Below you can find all the information you requested:
This is correct, when I defined the parameters in the .apt file of the axis, they were transferred to the ACOPOS successfully, but I was getting the error. The parameters were to be seen in the network trace in this case.
I will try that again now that I know what was causing the error, it puzzles me though why the parameters of the AcpParTab.apt were not loaded as this file was mapped to the axis:
The data is being transferred to the encoder as it should. I increased the value of maximum entries and saw all data.
Now, can the incremental signal of the encoder be added as a variable in the watch window for real time monitoring or should it already be displayed in the monitor.s parameter?
Since the LEDs on the 8AC120.60-1 still do not light up, I am guessing that there must still be something wrong with the configuration. Either that, or a hardware issue.
It would be useful to know if the LEDs are driven directly by the encoder or through the ACOPOS after everything has been setup correctly and the parameterization of the encoder was done appropriately.
Edit: Other question is, which slot the encoder card is in. Because if it’s the first slot after the AC114, you are supposed to use the ENCOD_ … ParIDs, not ENCOD2_ in your Parameter table (and in that case the manual writing of the ParIDs above also isn’t necessary)
Thank you for your reply and the useful feedback, Michael!
The only reason I used the third slot was to make sure that the second slot (first after AC110) was not broken.
I am aware of the fact that the names of the parameters change depending on the slot used and I can assure you they are correct. The screenshots are from different stages of testing and it can be that the names of the parameters are not always consistent.
Currently, I am using the second slot again (first after AC110). After no success with AS 4.12 and the modern Hypervisor 4.93, I switched to an older Automation PC 810 which I set up with Automation Runtime M4.01 which boots from the CF Card. I used AS 3.0.90 for this and defined the whole configuration from the beginning. I did not have to replace the files Acp10man and Acp10sys in this case and communication with CAN-BUS worked immediately (s. ACOPOS 1022 - Communications test with CAN BUS and Automation Studio - #5 by Kavourdistiri).
Sadly though, I still had no success with the AC120 as there is no activity on the direction LEDs.
I will try further today hoping that it will work.
Thank you all for your support and your time. I apologize that it is taking so long.
