I am working with an Lenze i700 it wors fine but I cannot give to the drive an torque addition.
Torque addition is mapped in pdo, but it is allways 0, and I have not seen in anywhere the load inertia. Anybody knows how I can parameterize it?.
In any case, it is possible to access the addtorque variable from the axis_ref?. If it is possible the torque feedforward could be cqlculated having in count load inertia and static and viscous friction.
Are you still looking for a solution? Function block "SMC_SetTorque" of library SM3_Basic should do this job to fill the fSetTorque in the axis_Ref. I'm using it with CiA-402-drives (Stober SI6, SD6), and it works fine....
In Lenze drives exist setTorque and addTorque.
The first is when you are working in torque mode and the other acts as a feedforward when you work in sync velocity or position mode.
I have not test, but I am thinking that it doesnt works.
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You are right, in the standard AXIS_REF_SM3 of Codesys there is no entry for a Torque Offset. What you can do is to map the parameter manually to a plc-variable and write the calculated torque offset to that variable (must be in units that the drive needs!).
If Lenze has a special Softmotion driver (may be part of their control system), this might have an extended AXIS_REF, where the offset is mapped internally. But that's something I don't know....
Or maybe, internal in the drive they interpret fSetTorque as an offset, if the drive is in mode csp or csv..... This should be written in the documentation....
The question is:
In axis_ref, is not vissible an addspeed variable, but it is mapped to the addspeed pdo.
I think there is an non vissible addtorque variable in the axis_ref struct.
Yes, I can create an add torque variable in my code and mapping it, but...
You can extend axis_ref, but twincat maps an axis_ref directly to the input outputs, not your extended axis_ref....
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