https://forge.codesys.com/forge/talk/Motion/thread/02fbfd3cfb/2023-03-27T04:31:46.507000ZRecent posts to SoftMotion and Raspberry pi2023-03-27T04:31:46.507000Z2023-03-27T04:31:46.507000Zsukrithttps://forge.codesys.com/u/sukrit/https://forge.codesys.comebe9776e3d9695e2851310bbf32633a958c1e550

<div class="markdown_content"><p>Hi all,</p> <p>We want to use code of <strong>MC_MoveAbsolute_SML</strong> (from lib "<strong>SML_Basic, 4.11.0.0(3S- Smart Software Solutions GmbH</strong>)") in our embedded Application.<br/> Can anyone send me the <strong>code</strong> and <strong>example</strong> of this <strong>SML_Basic, 4.11.0.0(3S- Smart Software Solutions GmbH</strong>.</p></div>

2023-02-08T09:04:50.267000Z2023-02-08T09:04:50.267000Zgseidelhttps://forge.codesys.com/u/gseidel/https://forge.codesys.com1c3c94848425ebeb7831aa3fe245262847fcf16c

<div class="markdown_content"><p>Hi Peter,</p> <p>I would recommend to check the PLC log and amybe the drive itself what kind of error has occurred.</p> <p>You could also execute MC_ReadAxisError to read the drive specific error object. (You probably need the drive documentation to interpret the value.)</p> <p>And then you could use PLC controlled homing (SMC_Homing) instead of drive controlled homing (MC_Home) as a workaround.</p> <p>Best regards,</p> <p>Georg</p></div>

2023-02-07T14:30:34.182000Z2023-02-07T14:30:34.182000ZPeter.skokanekhttps://forge.codesys.com/u/peter-skokanek/https://forge.codesys.com8cebdb04b913966e492dccdf1d3722791999c979

<div class="markdown_content"><p>Hi Georg,<br/> I have been following your advice to use FB MC_Home. First I set all required objects ( homing method, speeds...). I is done in Startup parameters table. After initial phase is drive in pos mode 8. When I execute MC_Home, it immediately finished with Axis_IN_ERRORSTOP. Can you please give me tips what to check?<br/> Peter</p></div>

2023-02-03T10:51:20.392000Z2023-02-03T10:51:20.392000Zgseidelhttps://forge.codesys.com/u/gseidel/https://forge.codesys.com0e8254c735dd504c6005a3d5e2466fb2ef307a83

<div class="markdown_content"><p>Hi Peter,<br/> glad it works now!<br/> Regarding homing, I cannot help you with homing using a different EtherCAT stack. Just a general remark: it is important to set the "homing method" (object 0x6098) before homing.</p> <p>Regarding homing using SoftMotion: the function block MC_Home performs the homing procedure, including setting the mode of operation to 6.</p> <p>Georg</p></div>

2023-02-03T08:19:21.258000Z2023-02-03T08:19:21.258000ZPeter.skokanekhttps://forge.codesys.com/u/peter-skokanek/https://forge.codesys.come420da1f2fb285a0e07ffa665aafa8dd9776cec0

<div class="markdown_content"><p>Hi Georg,<br/> I am back after longer time, thank for previous advice. Basicaly, everything work ok. It was necessery to disable drive first and then to change OP mode. <br/> My customer ask me to help him with homing. He is using his own ethercat master. He has written all required values by SDO to drive (homing method, speeds...) and write value 6 (homing OP mode) to 6060. After setting control word to start homing, it works correctly, after releasing home switch it changes direction, but not changes speed. I am sure it must be somethig drive specific, but I am not able to simulate it in codesys. smc_setcontrollermode doesn't support operational mode homing. If I am trying to change OP mode directly, by writing new value to object 6060, it still remains on default value 8. It is rewrited by codesys on background. My question is: Is there any way to control my drive directly by writing required values to 6060 ( switch off that rewriting on background)?</p> <p>Peter</p></div>

2023-02-03T08:19:20.349000Z2023-02-03T08:19:20.349000ZPeter.skokanekhttps://forge.codesys.com/u/peter-skokanek/https://forge.codesys.com8308de74b6aa25fa6b271132b5c7c21ff0e8c948

<div class="markdown_content"><p>Hi Georg,<br/> I am back after longer time, thank for previous advice. Basicaly, everything work ok. It was necessery to disable drive first and then to change OP mode. <br/> My customer ask me to help him with homing. He is using his own ethercat master. He has written all required values by SDO to drive (homing method, speeds...) and write value 6 (homing OP mode) to 6060. After setting control word to start homing, it works correctly, after releasing home switch it changes direction, but not changes speed. I am sure it must be somethig drive specific, but I am not able to simulate it in codesys. smc_setcontrollermode doesn't support operational mode homing. If I am trying to change OP mode directly, by writing new value to object 6060, it still remains on default value 8. It is rewrited by codesys on background. My question is: Is there any way to control my drive directly by writing required values to 6060 ( switch off that rewriting on background)?</p> <p>Peter</p></div>

2023-02-03T08:19:16.333000Z2023-02-03T08:19:16.333000ZPeter.skokanekhttps://forge.codesys.com/u/peter-skokanek/https://forge.codesys.com30a3f52ba6eafe2f24d36d8cc72a91c6bd4115d0

<div class="markdown_content"><p>Hi Georg,<br/> I am back after longer time, thank for previous advice. Basicaly, everything work ok. It was necessery to disable drive first and then to change OP mode. <br/> My customer ask me to help him with homing. He is using his own ethercat master. He has written all required values by SDO to drive (homing method, speeds...) and write value 6 (homing OP mode) to 6060. After setting control word to start homing, it works correctly, after releasing home switch it changes direction, but not changes speed. I am sure it must be somethig drive specific, but I am not able to simulate it in codesys. smc_setcontrollermode doesn't support operational mode homing. If I am trying to change OP mode directly, by writing new value to object 6060, it still remains on default value 8. It is rewrited by codesys on background. My question is: Is there any way to control my drive directly by writing required values to 6060 ( switch off that rewriting on background)?</p> <p>Peter</p></div>

2023-02-03T08:19:14.455000Z2023-02-03T08:19:14.455000ZPeter.skokanekhttps://forge.codesys.com/u/peter-skokanek/https://forge.codesys.comc73a20bb77527ea4fa841fd874054688a725e9b9

<div class="markdown_content"><p>Hi Georg,<br/> I am back after longer time, thank for previous advice. Basicaly, everything work ok. It was necessery to disable drive first and then to change OP mode. <br/> My customer ask me to help him with homing. He is using his own ethercat master. He has written all required values by SDO to drive (homing method, speeds...) and write value 6 (homing OP mode) to 6060. After setting control word to start homing, it works correctly, after releasing home switch it changes direction, but not changes speed. I am sure it must be somethig drive specific, but I am not able to simulate it in codesys. smc_setcontrollermode doesn't support operational mode homing. If I am trying to change OP mode directly, by writing new value to object 6060, it still remains on default value 8. It is rewrited by codesys on background. My question is: Is there any way to control my drive directly by writing required values to 6060 ( switch off that rewriting on background)?</p> <p>Peter</p></div>

2023-01-10T13:56:32.127000Z2023-01-10T13:56:32.127000Zgseidelhttps://forge.codesys.com/u/gseidel/https://forge.codesys.com0327497c3bf4a0dd013ddd4c0db441663152b401

<div class="markdown_content"><p>Hi Peter,</p> <p>so the drive somehow will not switch from mode of operation 10 (cyclic sync torque mode) to 8 (cyclic sync position mode).</p> <p>Maybe there is a limitation in the drive? E.g. some servo drives can switch the mode of operation only if they are not enabled ...</p> <p>Another thing to try is to <em>not</em> map 6060 and 6061 by PDO. SMC_SetControllerMode will then write them by SDO. This should not make a big difference, but maybe the drive reacts differently.</p> <p>Georg</p></div>

2023-01-10T13:38:16.923000Z2023-01-10T13:38:16.923000ZPeter.skokanekhttps://forge.codesys.com/u/peter-skokanek/https://forge.codesys.comc04517bd5a3a444c71e5c980847ab357526d3e61

<div class="markdown_content"><p>Please, see attached files. You can see, that after writing required possition mode to smc_setcontrollermode, vallue 0x6060 is 8, but 0x6060 is remaining at 10 and. bDone of smc_setcontrollermode is false, bError is true. No other Error in PLC is not reported.</p></div>