Wiring AC servo Drive to 1xd

p_vnct

Hi there,

i am currently trying to upgrade one of my printer with an T6 1000w Servo from stepperonline :
https://www.omc-stepperonline.com/fr/serie-t6-1000w-kit-de-servomoteur-ac-3000rpm-3-19nm-encodeur-17-bits-ip65-t6-rs1000h2a3-m17s

I try to wire it in differential mode to a 1xd with some infos of this topic and some other info from another topic: https://forum.duet3d.com/topic/29119/1xd-closed-loop-servo-setup/39

so from 1xd to driver:

step+ to pul+
step- to pul-
dir+ to dir+
dir- to dir-
and that's where i am not very sure:
5+ to COM+
ena+ to SI/DI3

Tried it but i still don't get any movement, how should i wire it ?

note that i was already using the 1xd with a more classic external driver and nema34 without issue but here i ma a bit stuck as AC servo drive are quite new to me.

p_vnct

Ok so today i got movement when sending gcode.

I just changed the wiring:
ena- to SI/DI3

But unfortunately i only get slow rotation of the motor about 360rpm but the motor is rated 3000rpm.

I use a planetary gearbox 20:1 so i have to get more speed.

But i am stuck again, i don't know if it's a wiring problem, as the documentation of the driver clearly states that COM+ is 12-24v and i wired it to 5v on the 1xd - (dont know where i could wire it elsewhere)
A config.g problem or even the AC servo motor configuration

here is my config for this motor:

M584 E122.0:0.4                                      	; set drive mapping extruder; 
M92 X320 Y320:320 Z640.00 E1000.00:100.00                 ; set steps per mm XYZ
M566 X300 Y300 Z60.00 E300.00:120.00                   ; set maximum instantaneous speed changes (mm/min)
M203 X12000.00 Y12000.00 Z3600.00 E18000.00:18000.00     ; set maximum speeds (mm/min)
M906 E0:1500 I30									 	; Set E motor current to 0 on XD and 800mA on driver 3
M569 P122.0 S1 R1 T1.5:1.5:1:1.5;

Any help would be appreciated

droftarts

@p_vnct I just spent a little while looking at the motor manual https://www.omc-stepperonline.com/index.php?route=product/product/get_file&file=2816/T6_Servo_Full_Manual.pdf and was going to say have a look at the enable signal! Glad you got it working.

I would imagine speed is limited by step rate of the 1XD, and however many steps per revolution the servo is set to. For the 1XD, this is a bit old, I think newer firmware has significantly improved the figures here: https://docs.duet3d.com/Duet3D_hardware/Duet_3_family/Duet_3_Expansion_1XD#step-rate-tests

For the servo, it looks like it is set by default to 10000; page 26 of the manual shows:

Command pulse per one motor revolution: 10000

So 360rpm would be 6 revolutions per second, so 60000 steps per second, or about 16us per step, or 60Hz (my maths could well be wrong on this). I would imagine reducing the pulses per revolution (can't immediately see how in the manual) would significantly increase the speed, as well as decreasing the timing if possible. But it may come down to a choice between speed and precision.

Ian

p_vnct

@droftarts

Thank you Ian for taking the time to help me and put me on the correct path to resolves this.

Following your insights, i have reduced the pulses per rev of the motor to 1000 pulses/rev as well as tweaking a bit some other parameters of the motor.
It looks like it's working, now that i have understand that i also have to "reboot" the motor each time i change its parameters.

I am now able to reach 4500rpm, above that the motor stalls, but i guess it will be more than sufficient for what it's meant.

p_vnct

Quick update, after tuning and mounting the servo on our extruder everything runs perfectly and quietly.
I achieved to extrude almost 10kg/h of rPETG with it.

So i guess this is solved now

droftarts

@p_vnct Nice! Glad you got it working.

Ian

Amagatth

Hey , i have the same driver like you but i have a problem with the ena, i put ena + on com + and ena - on si/di1 with d1 assign to serv on but it dont work , how you wire it plz ?

Phaedrux

@Amagatth Please create a new thread and include as much detailed information as possible. You can reference this thread if you think it's relevant.