SureServo2 ECAM Basic Setup from AutomationDirect

this is a walkthrough to get the most basic function of an ecam working on the sh Servo to drive you always want to be in PR mode which is setting one in p1.1 I have another tab here in the parameter editor called ecam and that is actually defined under uh userdefined groups and is here this can be edited created or uh manipulated in the defined group editor window you can move things around here select the ecam or create your own for whatever you need even though we can create uh any changes here and do any manipulation to the drive through this window using the ecam editor window is the best way in the ecam editor window you can create multiple types of cams speed fitting rotary shear Etc this is a manual Cam that we're going to do I already created one which is stored in an ecd file and when you import it you can see the points that were imported here and everything in this window and the subsequent windows are stored in that ecd file if there's a parameter that needs to be adjusted or configured outside of these windows then you'll have to do that in the parameter editor this ecam file only has six points and every ecam table needs to start and end at the same position and that is because an ecam is just an electric version of a mechanical cam so it's always going to rotate 360° so the start Point needs to be at the end point the same value and usually your ecam will have a lot more positions than this but this is just something simple to show in this demonstration this eam array can be increased or decreased with P 5.82 so this number directly represents how many cam points you'll have and the array that's it's stored in is defaulted at 100 you can change this at any point here if you rightclick in this table here you can insert points delete points or import or export points uh we won't go into those in this video but you have lots of options here to download this ecam table to the drive we first click download table to Ram download okay and then for this table this data array to survive a power cycle we need to burn the ram table to the eom and this note will remind you which order to press those in Burn table yes and up here we can see the process or the progress of this table going into the drive and then click okay if you want to verify that these values were downloaded into the drive we can go to the high-speed position capture compare window and there's options in here for capture and compare but we're going to look at the data array editor here we have 5081 and 5082 these are the same two parameters that were in the ecam editor and if we load from Servo here it'll pull in all the array elements into the uh into this window we click go here and we'll jump immediately to element number 100 you can see that these values these are actually puu position values they are the same as in the ecam editor you can also do a lot of editing in this window right here of writing the values directly saving them loading them to the servo so you can manipulate these manually here if you do not want to use the ecam editor for the ecam table if you want to visualize what the cam will look like it's down here if you don't have this yet if we click create table it'll create the table from what we uh determined we wanted it to be click draw and it'll draw what the cam would look like if it was a mechanical Cam and then here we also have the graph version if we click back on information we can hover our Mouse over and move the values um so this red line here is the actual position we can see it over here uh puu and this purple line is the speed of the servo we can change different views to see what we want of what the acceleration will look like at different points and position and you can see over here the actual values of everything everything that we're doing here in this window or with this drive this is the slave axis so the slave axis is what gets loaded with the ecam table the master access can be multiple different things in another Servo or an encoder in the parameter editor we can see we have 5.88 this parameter is the main control for the ecam control for engaging and setting up we can edit here or we can do it through this window so if we click next and walk through these you can see on this next screen we do have 5088 and 5089 configurable here so this is each of the uh bits 5.88 is a volatile parameter meaning once you power cycle all the data goes back to zero so you do have to set it up and load the values on each power power cycle we go to the next window here 5084 is a very important value to get right this is the number of pulses that are given by the Master axis per 360° rotation of the full ecam table for this one cam table of 360° you would see 3600 Pulses from the master pulse train would complete 1 360° rotation or would be one rotation of a mechanical cam 5.83 is how many cam Cycles do you want to happen during this 3600 uh set of pulses so now this cam would rotate three times when 3600 pulses went by so now we change that back to one and so then it would just rotate once now for every 3600 pulses if any of these values did change you're going to want to click download for this window the next window there's another download button so these values only get downloaded with the download load in this window and will not download this window so each download button does only affect the window that is being shown for this demonstration we're going to use the time Axis or the timeline for the master pulses and that will use the internal clock of the uh of the drive you can choose any of these other things to be your master axis we're going to choose option four and download to the drive before we enable the ecam we're going to open the digital IO window to enable the drive with Servo on now we go back here to enable ecam and now the internal clock is running the uh the slave axis which is the top there so it's running from 0° to 360 and then starts back at zero again and continues that so that is the rotation you're seeing uh you might be seeing that it's not going exactly what we may have assumed 100,000 puu is also the electronic gear so 100,000 puu is actually one rotation of the shaft we're going a little bit more because element 2 and three are at 100,000 so that means the peak if we look over here at the position we can see the peak is actually at about 108,000 so element number two would be about right at 144° CU it's evenly spaced so that's why we're going over the uh the one full rotation just a little bit as you can see on the uh the cam wheel there if we open the status monitoring window we can see some other things here so we want to select we're going to deselect all these things CU we don't care about them and down here these ones I've chosen monitoring variables 62 3 63 and 61 so let me just add those click change and you also want to save the change so now we can go back to the monitoring uh window click run and we can see these values so the ecam Master axis we have as 3600 so that's basically 3.6 seconds and we can see it going up to 3600 as the position of the cam table is changing very rapidly if we want to change that we can play with this so This parameter if we change to three and then download oh hang on ecam is on so let me go ahead and stop the ecam go back we're going to change this to three and then download now when we enable the ecam it's going three times as fast so we go back to this window click run we can see it's going up to a third of 3600 so about 1 1200 1.2 seconds is the Master axis um input pulse train which is time to go up to 100,000 Cycles so now we're seeing this cam operate three full Cycles within 3.6 seconds we can also engage and disengage the ecam through the parameters so here we have 5.00 or 5.08 8 and if we enable thex to one then it will start the ecam and we can also change the uh this parameter again 5.83 change it to a one we can see the 3600 uh input pulses or 3.6 seconds will be one rotation of the the cam or we can change it to two rotations within 3.6 seconds and then we can disable by writing a zero [Music] here double clicking will also give you the parameter uh settings helper so all these same things can be modified here as well when you make changes in the parameter editor you do want to make sure you go back to the ecam editor and read these V values back from the servo into this window the values when they're changed in the parameter editor they will not automatically update here so you want to make sure that's accurate uh in your final settings before you save this this file 5.19 is the scaling of the ecam curve so right now we have it at one a 1: one so now if we do a two that scaling will be different and what that is going to do if we look at this curve again the position goes up to just over 100,000 so now we've just dou it it'll go a little bit over 200,000 pulses almost two rotations of the same thing so if we now well let's set this to one so we do have uh a better visualization so if we enable the ecam so now in 3600 uh input pulses we have the ecam going twice as far so in this representation it's going two rotations if we open the parameter helper back up again for this uh parameter number this part right here we can have 5.19 the scaling effective immediately or after each ecam re-engage so right now we have it set to zero we change it to one every time we change that parameter the uh effect the of the scaling takes effect immediately so we'll write that to Servo and now here we have two if we change it to one it will immediately change to back back to the normal scaling and we can change it to four and we can see it's actually scaled by four now so we change it back to the original scaling and then we can also stop the ecam through this window as well disable and write to Servo since we've been messing around in the parameter editor we do want to go to the ecam editor and read in all the values so now they're all in this this window and we can see all the the new values that we read in so the Master axis position this has been running for quite a while so 3.6 seconds we are at 2500 seconds of how long this Master axis has been running we're now going to change this to a different Master axis the auxiliary and coder which is the cn5 input on the bottom of the the slave access drive so we download that download okay we enable the axis and when we move the lower axis here which I have set up as the master the output Pulses from the Servo drive connected to this axis which is disabled at the moment that's why I can move it with my hand those pulses are coming out of the master drive and being fed into cn5 the slave axis so we can see when it moves forward it'll do one cycle for every 3600 pulses and backwards it'll follow the pulse train forwards or backwards if we open the status monitoring window and run again we can actually see the input pulses as I move them so let's get to the beginning well that's going backwards let's go forwards so once we get to about 3600 pulses we can see it jumps right back to zero and right at about 3600 pulses we're also at um Z puu so if we go somewhere in the middle of 3600 where at the 108 uh puu of the position of the peak of the cam because this is a circular uh cam representation when we're right at about zero in the cam table you can see where the arrow is on this uh this cam disc so we go forward to about halfway which would be right about here 100,000 or so the arrow is back at the same position because that cam rotated One Direction and then if we keep going forward it starts rotating back the other direction until we get to 3600 pulses which is 360° of the cam table and it'll go back to about the same position so now we want the ecam to be enabled at a specific moment of the Master axis instead of engaging immediately when the ecam is enabled so we change uhz to diam enabled and I have on digital input 6 I've changed it to ecam and gauge control so that's you need that to have that there and my sensor uh will now trigger that so we'll do that download enable ecam so now this sensor here which is di6 is going to tell the ecam when to start so you can see nothing is happening here and once that yellow flag hits that sensor now the ecam is enabled and it'll stay enabled until we give it a disengage connect uh condition so now if we want it to disengage at a certain point in time we can use this uh this part of the parameter we're going to select this one and now once the Master axis pulse reaches a certain number we will disengage the cam and that number that value is set in 5.89 and we have it set to 500 Master axis pulses that is 500 out of the 3600 and we're going to disengage to a stop so we download that now we enable the ecam again and when we rotate well let's open up the monitoring window hit run so now we're about to engage so once we engage this automatically set to zero so when we go up to 500 it now stopped and then we re-engage again so every time this flag hits we Engage The ecam and it will only run for the first 500 pulses of the the cam table okay so if we do this again once we we trigger the ecam if we went backwards it would continue to go backwards a lot so it would then go forward and it would it wouldn't do 500 pulses in either direction which you wouldn't be running a normal application like that but it'll stop once it hits the positive direction of 500 pulses we go back to our ecam window we will stop the ecam and change this back to do not disengage download these parameters again go back one window so the engage lead pulse 5.87 this is kind of the opposite of the disengage uh timing of pulses so once the ecam is triggered by to engage by the uh by the sensor it will weigh a certain amount of input pulses so let's make this a good number to see 1,000 click download we'll go over to here uh let's open back up this let's enable the ecam now click run so here we are we're going to engage right there and then it's going to take a th pulses before it gets triggered so let's look at that again stop enable make sure we're running so this variable pulse of ecam Master access the lead pulse it's at zero as soon as this flag hits it is now starting to count down from 1,000 1,000 pulses now gets hit and now the ecam Master axis is now running again or the ecam the uh the slave axis is now running off the Master axis [Music] pulses and that is the fundamental movements of how the ecam works how it's engaged and disengaged engaged and how you load ecam tables into the drive