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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 happens every time
      • 1: feedback calibration happens 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 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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