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Wake and Shake Behavior

EverCNC Titanio - Wake and Shake

When the drive powers on, when you enable for the first time, the drive will perform a "feedback sensor calibration" (FSC) that is colloquially referred to as "wake and shake."

Theory

(Andy, put stuff here)

Configuration

  • Feedback_Settings 0x2230/0x17/2)
    • bit 7: Calibration Mode
      • 0: feedback calibration happens every time
      • 1: feedback calibration happens only the first time power is supplied.
    • bit 12: Calibration Type
      • 0: full feedback calibration procedure
      • 1: light feedback calibration procedure

Observed Behavior

The drive supports an object, Feedback_Status, that provides information during the calibration process. Sadly, this is not an object that can be put into a PDO, so it cannot easily be monitored.

    • Feedback_Status 0x2230/0x18/2
      • bit 0: Calibration in Progress
        • 0: not in progress
        • 1: in progress
      • bit 1: Calibration Error
        • 0: no error
        • 1: feedback calibration procedure failed
      • bit 5: Calibration Aborted
        • 0: not aborted
        • 1: calibration procedure was aborted
      • bit 12: Calibration Attained
        • 0: calibration not attained
        • 1: calibration attained

We've observed problems trying to use this model out of the box with RMP. If the wake-and-shake takes too long, RMP faults.

Full Calibration Mode

EverCNC_SW5A_Wake-and-Shake_RMP-Fault.png

If it finishes fast enough, RMP is fine.

EverCNC_SW5A_Wake-and-Shake.png

Light Calibration Mode

EverCNC_SW5A_Wake-and-Shake_Light.png

(Ref: data for plots)

Custom Behavior

The documentation for this drive describes the state transitions for enabling.  It's (probably) not unusual, except for the length of time it takes to succeed.

We will need to implement our own "enable sequence" to integrate this model with RapidPath.

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