Initial issues with ACOPOSmicro

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1

Hello everyone,

I recently acquired an ACOPOSmicro drive, model 80VD100PD.C000-01, along with a 8LVA13.B1030D200-0 motor. I’m having trouble getting the system to work, as I’m receiving the following warnings as soon as I power it on:

  • 39006
  • 39034
  • 39042
  • 39024

In addition, when I try to perform autotuning, I get the following error: 4005.

I’ve also noticed that the R/R1 and R/R2 LEDs are blinking green continuously .

It’s worth mentioning that the equipment is brand new, and I haven’t been able to complete a successful configuration yet. Could someone guide me on how to resolve these issues or where I should start troubleshooting?

Thanks in advance.

2

These all appear to be EnDat encoder-related issues, as far as I can tell.
When we commissioned our very first ACOPOSmicro, we ran into similar problems. It turned out that the required battery (80XB120A2.36-00) was missing, which is essential for the encoder to function properly. That detail had slipped through the cracks on our end.
In some cases, it’s also necessary to reset the encoder using a specific ParID in mappCockpit.

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3

Hello Julian.

Thank you for your response. I have already installed the battery. Additionally, I would like to mention that I am using ACP10. Could you please share the ParId to reset the encoder, or the GUID of the help? I have not found any information about it.

Regards.

4

Hi,
the ParID is ENCOD_CMD (719), write 1 to it to acknowledge the error.

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5

Hello Martin and Julian.

Thank you for your support guys! the problem was solved by following your recommendations.

Regards.

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6

Please also note that you don’t need to write the ParID on every startup.

The alarm bit or warning bit is not permitted to be cleared cyclically since this involves write access to the EPROM memory of the encoder, which can result in irreparable damage to the encoder after a foreseeable amount of time (approx. 100,000 write accesses).

Taken from the online help.

What I’ve implemented instead is a short check during machine boot: it verifies whether the encoder has been changed, plugged/unplugged, and only performs a reset if an actual error is present.
Otherwise, you’d have to manually perform a reset in certain cases - like when the motor has been changed - which isn’t ideal from a usability standpoint.

	ParIDValue									:=	1;
	ParIDReset.ParID							:=	719;
	ParIDReset.DataType							:=	mcACPAX_PARTYPE_UDINT;
	ParIDReset.VariableAddress					:=	ADR(ParIDValue);
	
	IF	MpAxisBasic_0.Info.Diag.Internal.ID = -2141087650	THEN
		MpAxisBasic_0.ErrorReset				:=	TRUE;
		EncoderReset.Execute					:=	TRUE;
	END_IF;
	
	IF	EncoderReset.Done = TRUE	THEN
		EncoderReset.Execute					:=	FALSE;
		MpAxisBasic_0.ErrorReset				:=	FALSE;		
	END_IF;
	
	EncoderReset.Axis							:=	ADR(gAxis);
	EncoderReset.DataAddress					:=	ADR(ParIDReset);
	EncoderReset.NumberOfParIDs					:=	1;
	EncoderReset.Mode							:=	mcACPAX_PARID_SET;
	EncoderReset();
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7

Hi Martin,

Thanks a lot fro your support, I’ve now managed to clear the encoder error. However, sometimes when I power on the ACOPOS, I get lag error messages.

Do you think this could be related to the previous encoder issue?

Or would it be a better option to use the MC_Endless variable?

Looking forward to your feedback

thanks in advance!

8

Hi,
the lag error is most probably unrelated to the encoder errors.
Would there be something wrong with the encoder signals, other encoder errors are reported.
Using a variable of type “MC_ENDLESS_POSITION” is also unrelated to the lag error. This allows to restore the axis position after a PLC restart, if an absolute encoder is used.

About the lag error, first check the message, it should contain the value of the lag error.
If it is only a few units, maybe set the lag error stop limit bigger, i.e. allow a bigger lag error.
Try tuning (autotuning) the speed and position controller loops, e.g. with MC_BR_SetupController or the NC-Test.

9

Hi Martin.

Ok, I will try, thanks a lot for your support.

Regards.

10

Hello Martin.

Thanks again fro your support, I detected that the problem is that every time I turn off or restart the Acopos I have to do auto-tuning, and after that it works correctly. It’s worth mentioning that after doing the auto-tuning I save its result. Do you have any recommendation to avoid having to do auto-tuning every time I restart the Acopos?

Regards.

11

The parameters are stored on the PLC not the drive.
Please check that they are stored in the correct place: NC Init module
If you are using the function block MpAxisBasic, it is possible that it overwrites the parameters with is Configuration.

12

Hi Martin.

Thank you very much for sharing your knowledge.

Regards.

13

Hello Noe,
Please can you explen me how to do reset in ACP10 ? Where can i found the ENCOD_CMD 719 in Automation Studio 4 ?
Thank you

14

Hello Yoann.

Sure, go to physical view the select then the acopos drive the right click.

Select Test.

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image1947×973 147 KB

then select the axis

image
image643×491 16.9 KB

now enter parallel mode

image
image1044×479 9.19 KB

go to network > service > request > parId = 719, then go to data_text and set it to 1

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image2024×617 50.3 KB

as a final step select write drive parameters

regards.

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15

Hello Noe,

Thank you for your help, it’s OK !

Regards.

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