Inverter speed control over KCP.

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  • I was confirmed by the Inverter manuf. that there should be a wire from Terminal #22 of the DPL Inverter to B2.
    I forgot to press dead man switch to change the output value, the value is now 0.1, but the Inverter display should also display the same value, is it not?
    If I enter a number 1 in the Analog I/O, does it mean the wago 750-550 is output-ing 1v from AO1?

  • ok, time to test I/O,...


    i would login as Expert (don't recall if needed but i'm always logged in anyway...), set T1 mode, use Monitor menu and access Digital outputs (display first few outputs because our outputs are mapped to $out[1...8]), press Enabling switch and try to toggle couple of outputs. watch LEDs on the I/O module.


    you can also check inputs and then bring 24V to one or more of $in[1...8]. again, you should see LEDs on wago turn on and indicators on the Kuka pendant as well...


    then try analog outputs, set value 0.0 - 1.0 and measure voltage at the analog output terminals.


    if all of this works, you are in business, and it is time to connect to VFD....

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • I always login as Expert :).


    Set to T1.


    Monitor menu set to outputs and activate output 1~8:


    750-536 all outputs activated:


    Monitor menu set to input:


    Monitor menu set to Analog output:


    Measure AO2 and common:


    I enter 0.5 at Analog output and the AO2 of the 750-550 gives 1v??

  • Could be a scaling error. Measure the analog output for $ANOUT= 0.1, 0.2, 0.3, etc, and plot them in Excel as a Scatter chart, or something similar. If it's just a scaling issue, the plot will be linear, and we can figure out the scaling adjustment.


  • Could be a scaling error. Measure the analog output for $ANOUT= 0.1, 0.2, 0.3, etc, and plot them in Excel as a Scatter chart, or something similar. If it's just a scaling issue, the plot will be linear, and we can figure out the scaling adjustment.


    The result looks like a scaling error, how to solve this?

  • google searched:


    "As for how ANINs and ANOUTs map to the digital I/O... all you're sending/receiving across the DevNet bus is bits. Those bits can be grouped into bytes or words at either end. Getting analog values across the bus is a matter of converting them to a binary value and sending.
    The trick is scaling. Let's say you have an 8bit, +/-5V analog output card. That means that the actual output will scale from 0V to +5V as the binary patter ranges from b00000000 to b01111111. The voltage will range from 0V down to -5V as the binary pattern ranges from b10000000 to b11111111. If you don't add a scaling factor to the IOSYS definition, the robot will send b01111111 when you order it to send +1 (10V), and 11111111 when you order -1 (-10V). How you really want to look at it is as if the -1.0 to +1.0 in KRL is a multiplier, with the +/-1.0 being "full scale" of whatever the input or output device is, and (for example) 0.5 being 50%."


    For reference only.
    {token}{num}={address},{byte},{res},{type}[,CAL{factor}]
    ;
    ; {token} ANIN or ANOUT
    ; {num} number of the analog channel (1..i)
    ; {address} address of a peripheral device (0..m)
    ; driver specific information, see descr. below
    ; {byte} byte offset at this peripheral device (0..m)
    ; Offset starts with 0 at the every device
    ; driver specific information, see descr. below
    ; {res} resolution of the analog value (number of bits)
    ; {type} type of analog value
    ; 0 : right justified without sign
    ; 1 : right justified with sign
    ; 2 : left justified without sign
    ; 3 : left justified with sign
    ; {factor} maximum analog value, decimal without prefix,
    ; hexadec. with prefix 0x or octal with prefix 0
    ; "CAL 0" or no entry sets factor to its maximum


    ------------------------------------------------------------------------------------------------


    ANOUT1=5,0,16,2,cal32767
    ANOUT2=5,2,16,2,cal32767
    OUTB0=5,4,x1 ; $in[1..8]
    INB0=5,0,x1 ; $out[1..8]


    The numbers in RED, is that the scaling value?
    I have only measured the voltage output from 750-550 AO2, but not AO1, will measure AO1 today.

  • The numbers in red are your byte offset -- ANOUT1 is mapped to the first two bytes (0-1) of the Wago block, and ANOUT2 is mapped to the third and fourth (2-3). The 32767 is the scaling value -- that represents the full-scale value of 15 bits.

  • At first I thought by dividing 32767 by 2 would give me the right answer but not, then I asked a friend he suggested me to change the resolution to 15, ANOUT1=5,0,15,2,cal32767, so I did, but the result still not right.

  • not sure if i understand correctly but setting 0-1 value should produce 0-10V output.
    are you saying that when you enter 1, output is 1V instead of 10V?

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • Hi,
    Yes, enter 1 = 1v, enter 10 =10v.
    From this link: http://www.robot-forum.com/rob…60-analog-module-on-kuka/
    ANIN1=6,0,x,y,CAL zzzz: The CAL factor is only necessary if your Wago device uses a different voltage scale than +/- 10V max. The KRC analog input channels are set for 10V max, plus or minus. If the Wago device also maxes out at 10V, you should not need the CAL factor. If it maxes out at 5V or 15V or something else, you use the CAL factor as a divisor to scale the Wago inputs down to 10V max.

  • I have been trying to figure out what is causing Wago device to shut down and switch on when power is supplied, could it be the Devicenet hardware?
    Disconnection between wago devices from the MFC devicenet card, then power on wago devices the same thing happen, on-->off--->on-->off so on, then by tuning the voltage adjust of the Mitsubishi S8VS-09024 down to 20.2v the wago devices stays on and if I plug in the orange 5 pin connector at this instance to the 750-346 fieldbus connector socket the "on-->off" issue starts again.....I'm suspecting the power supply is faulty, and if it is not PSU then I'm in deep sxxx.

  • So far I never had problem powering Wago or Backhoff I/O from the robot cabinet (which is 27V).



    Btw. S8VS-09024 is an Omron product. unlike S82K series (which was very robust, we used them a lot), S*VS seem to be more fragile, I have seen a few dead ones (all smaller ones, <100W). S8VS uses different overload mode - in case of overcurrent it shuts down and locks out. to recover one must cycle AC power.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

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