See Also:
This guide still needs a lot of work, but may serve as a startingpoint for a better guide
¶ Preparation
- LinMot Talk should be installed
- Connect the drive, through a configuration port (see its manual to see which one this is)
- Log in to the drive
- With EC1250, this is done through Ethernet: File --> Scanning (Ethernet) --> Login to all
¶ Terminology
- ADF - Actuator Definition File
¶ Pelvis
- 1/9:
- PS01-48x240-XX_V3S4_20200602.adp
- PL01-28x500/420
- Length=500mm
- Diameter=28mm (I think, did rough measurement by measuring the circumference)
- Positive Moving Direction: Regular (I think?...)
- 2/9:
- Drive Name: EC1250-EC-UC (probably, i dont think it really matters)
- Regeneration Resistor: None
- Only option is RR01-10/60, and I can't find it anywhere in the system
- 3/9:
- Extension Cable: K05 (says so on the cable itself)
- Length: 4m (rough measurement, but matches this product)
- 4/9:
- External Position Sensor: No Sensor (nothing connected to the EC1250)
- 5/9:
- Moving Part of Motor: Slider
- Orientation angle: 0 deg
- Additional Load Mass: 30.000g (rough estimate, not sure how important the actual mass is, and not sure how to get it either)
- Left Friction Forces and MagSpring on 0 / default.
- 6/9:
- Leave at default soft
- Left noise filter at default of 0.03mm
- 7/9:
- Left at defaults (speed=0.01m/s, Mechanical stop negative search)
- 8/9:
- A: -5mm (rough measurement) - B then autosets to 215.5mm
- 9/9:
- HP: No idea what this should be, its the position set by the linmot software that it has when hitting the mechanical hard stop. For now just putting it on the actual measured dimension (step 8): -5mm
- IP: just set it to 0mm, makes the most sense (so in this case it'd move 5 mm back after homing)
- Left Minimal/Maximal Position Error Enabled off
- Finish the setup, and the Firmware Stops!
- Click the green arrow to reboot the drive (confirm with Yes)
Now to manually do homing procedure from linmot talk (in the control window):
- Enable 0: Switch on, then toggle Override value to off and then back to on.
- Confirm that the Op state is: Operation Enabled
- Enable 11: Home, then again enable its override value and it should home.
- Then Disable all switches to disable the manual override