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Post by stevant on Sept 27, 2014 3:26:34 GMT
So, my 20/5 wire came in so I can wire up my inverters which I did tonight. Thanks again to Thanos who had a great diagram on his blog in regard to wiring the Hitachi Inverter. You'll see a few pictures below showing the inverter with the wires on them. They are all wired the same, I just have to hook them up to my AMC1280USB board from Thanos. I chose 20/5 wire since each inverter takes a total of 5 wires. two are for ground, one goes into the lower bar labeled "O" and the other two go into the upper bar labeled "1" and "2". The red and white wires that go to the AMC board will be "White to A" and "Red to B" for inverters 1,3,5. For Inverters 2,4,6 it will be "Red to A" and the "White to B". This is so the adjacent motors on each side of the platform will work opposite of each other. If I have anything wrong here, please pass comment as I don't want to make any mistakes. If Thanos reads this maybe he can let me know if the jumper on the inverter needs to be moved. The diagram from the blog shows the jumper in "L and PLC" The inverter has the jumper from the manufacturer in "PLC and P24" Should I move that?? The manual refers to a "Source" and a "Sink" connection. It comes from the factory in a Sink but I assume by the diagram from Thanos it should be changed to a Source. I think I should move the jumper. I'll wait until I get some feedback from the inverter guru's. Thanks again for all your help!!!!
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Post by stevant on Sept 27, 2014 3:27:03 GMT
One more pic.....
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Post by stevant on Sept 27, 2014 4:07:31 GMT
Ok, after reviewing and reading I'm going to configure the inverter into the "Source" configuration with the jumper. (Like the Thanos diagram) That means one of the wires that goes to my AMC board will have to share with the jumper. It's a ground wire which is blue in the picture below. I hope this is right. Let me know please if not.
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Post by tronicgr on Sept 27, 2014 16:08:54 GMT
Thats right, you need to place the jumper between L and PLC... You don't need to share the L you already have it connected below for the analog speed...
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Post by stevant on Sept 27, 2014 21:54:22 GMT
Thank you Thanos. As per the setting in the menu in regard to 135 Pos and 246 Neg, I would still need to set that even though I am reversing the wires for inverters/motors 246 on the extension card? Also, the jumper that is on S2, once we go to the real platform will that be returned back to span S2 and S3?
Thanks as always......
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Post by tronicgr on Sept 29, 2014 18:20:21 GMT
You still need to use 135 Pos and 246 Neg or 135 Neg and 246 pos because of the orientation of the motors.
Yes, the S2 jumper is only used for activating the Pololu mini servo controller. For the real platform you don't need it connected on S2 anymore.
Thanks Thanos
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Post by stevant on Sept 30, 2014 5:10:39 GMT
Ok........I was able to install my AMC board yesterday along with my 24v power supply. A lot of wiring to hook up the inverters need I say but once you get your system down it goes pretty smoothly!! I managed to hook it all up but testing it was another issue. I was able to get one of the motors to work once I went through the initial startup/setup of the inverter for motor #1. Still not right but at least I have an idea what to do. I'm going to ask for help from the forum for setting up the inverters properly for the system. Here are some pictures of the work I did tonight/this morning. First thing is to get the inverters set-up properly, next is too make sure my AMC board is all set up correctly.
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Post by stevant on Sept 30, 2014 5:11:32 GMT
a few more......Thanos, maybe you can help me set up one of the inverters? I can do the rest once I know what do with the first one.
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Post by stevant on Sept 30, 2014 11:22:02 GMT
I was able to start up the motor on my platform (I'm only working with one at the moment) I set up the parameters as per the inverter manual for an initial startup. I went over to the blog Thanos has and took a look at the settings he lists for the Hitachi inverter which I have. To get it to run this time I had to have it connected to the x-sim software. Once I hit test it immediately went into an error code. One was E03 and the other E02. There was another number after the decimal but I forgot it. The code refers to Over-current event during acceleration and deceleration. I set the inverter back to it's default settings as I want to get some advice here before I proceed. I'm in the big leagues now........I need a little help. One of the settings under A005 was supposed to be 04 but my choices were only 00-03, hmmmmmmmmm. I was confused there. I would like to get one setup and then I can do the rest. I assume I have to set up the basic settings again since I set all to default again. The good news is no smoke, no fire and my house is still standing...lol!!
All I can say is.....HELP!!!!
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Post by stevant on Sept 30, 2014 12:39:59 GMT
The code is E03.4
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Post by tronicgr on Oct 1, 2014 1:25:44 GMT
Hi Steven, The error is indeed about overcurrent during acceleration/decceleration. Try to set higher values for Ramp acceleration/decceleration. F002 = 0.05 or 0.10 or a bit higher until it does not trip any more. F003 = 0.05 or 0.10 Also change the max motor speed on the AMC1280USB to 50% for the testing, and later you can increase it. One of the settings under A005 is supposed to be "00 ON" and "02 ON" driveswarehouse.com/documentation/Hitachi/WJ200M.pdf from page 291 ... I'll look for other changes later tonight. Thanks Thanos
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Post by stevant on Oct 1, 2014 3:12:09 GMT
Hey Thanos,
Thank you again for helping me out. The platform seems to be working fine with the test program. I made the changes you suggested and it is no longer generating acceleration or deceleration error codes. Looks like they made some changes to the inverter. That is why the forum is so good so you can post it for all to see. I assume motor outputs 1 and 2 are the default motors for the front of the platform? The only other point that you might know what to do about is making the inverters settle in to zero when not in use/motion. It will stop a lot of the shuttering and squealing that is a result of the fluttering numbers.
As always thank you for your support and I'm looking forward to getting my parts tomorrow to make my arms to connect the upper platform.
We're getting there!!!!
Steven
PS - I had to change the Pos 1-2-3-4-5-6 to Pos 1,2,3 Neg 2,4,6. That did the trick. It's hard to see if it's all working right together until you attach the upper platform and you can see what is actually happening. I know we'll have adjustments to make but the majority of work is done. I know heave is working perfect and matching the diagram in x-sim. I assume if that if all 6 motors are moving up and down simultaneously then the rest of the motions I'm sure will be good.
Steve
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Post by stevant on Oct 1, 2014 12:05:25 GMT
I have a video to post just not sure how to do it. If anyone knows how please let me know.
Thanks......
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Post by tronicgr on Oct 1, 2014 17:11:38 GMT
I have a video to post just not sure how to do it. If anyone knows how please let me know.
Thanks......
Upload it to Youtube and the use the "insert video" button to make it appear in your post. For the shaking, you can decrease the max motor speed and increase the min motor speed to 3 to 4, until I improve the PID. Should have an update on that in a few days.
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Post by stevant on Oct 1, 2014 19:51:44 GMT
Thank you Thanos, will do!!!
My HEIM Joints came in and boy are they nice. Heavy duty for sure. Here are a few pics. Once I weld up the pipes for the rods I can get the temporary platform in place for testing.
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