Infoportal
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
| Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende Überarbeitung | ||
| embedded_systems:ethercat:teststand [2022-03-31 11:36] – Urs Graf | embedded_systems:ethercat:teststand [2022-04-01 15:26] (aktuell) – Urs Graf | ||
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| Zeile 64: | Zeile 64: | ||
| Follow [[software: | Follow [[software: | ||
| The image was created in\\ ''< | The image was created in\\ ''< | ||
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| - | ===== Run Test Program ===== | ||
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| - | ==== Booting the image for the first time ==== | ||
| - | When booting the image for the first time, it straight goes to emergency mode. This is because the wrong storage is set. To fix that, open '' | ||
| Zeile 118: | Zeile 113: | ||
| * When ENI are not setup correctly, the process data image can show strange alignment problems. | * When ENI are not setup correctly, the process data image can show strange alignment problems. | ||
| * Velocity readings on the teststand may vary greatly. The internal sampling rate of the drive may be 8 times higher than the sampling on the bus with 1ms. This leads to very few ticks, because the encoder has 25000 ticks per turn and the velocity is very slow. The drive obviously has an internal filter / observer . | * Velocity readings on the teststand may vary greatly. The internal sampling rate of the drive may be 8 times higher than the sampling on the bus with 1ms. This leads to very few ticks, because the encoder has 25000 ticks per turn and the velocity is very slow. The drive obviously has an internal filter / observer . | ||
| + | * There is a emergency stop button. This button is connected to a digital input of the ELMO drive. However, we currently do not read this input, because that's not possible with PDO transfers. | ||
| ===== Hardware ===== | ===== Hardware ===== | ||