https://forge.codesys.com/forge/talk/Motion/thread/50384b99ff/2020-02-27T18:27:16.472000ZRecent posts to Feedforward torque2020-02-27T18:27:16.472000Z2020-02-27T18:27:16.472000Zjosepmariaramshttps://forge.codesys.com/u/josepmariarams/https://forge.codesys.comd5736c11ac53490d2c98a5c983bb1f8f75935f5e

<div class="markdown_content"><p>Hi Alfred.</p> <p>The question is:</p> <p>In axis_ref, is not vissible an addspeed variable, but it is mapped to the addspeed pdo. </p> <p>I think there is an non vissible addtorque variable in the axis_ref struct.</p> <p>Yes, I can create an add torque variable in my code and mapping it, but...</p> <p>You can extend axis_ref, but twincat maps an axis_ref directly to the input outputs, not your extended axis_ref....</p> <p>Sent from my Moto G (5S) Plus using Tapatalk</p></div>

2020-02-27T18:27:15.368000Z2020-02-27T18:27:15.368000Zalwosohttps://forge.codesys.com/u/alwoso/https://forge.codesys.com4d1f8c6fb39aacdd4f1c4167dedcae89d5ada755

<div class="markdown_content"><p>Hi Joseph!</p> <p>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!).</p> <p>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....</p> <p>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....</p> <p>Best regards</p> <p>Alfred</p></div>

2020-02-27T18:27:14.250000Z2020-02-27T18:27:14.250000Zjosepmariaramshttps://forge.codesys.com/u/josepmariarams/https://forge.codesys.com5e8ba9eb9d954ada7677cb09f8c1c03d865b1dbd

<div class="markdown_content"><p>Hi.</p> <p>In Lenze drives exist setTorque and addTorque.</p> <p>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.</p> <p>I have not test, but I am thinking that it doesnt works.</p> <p>Thanks</p> <p>Sent from my Moto G (5S) Plus using Tapatalk</p></div>

2020-02-27T18:27:11.142000Z2020-02-27T18:27:11.142000Zalwosohttps://forge.codesys.com/u/alwoso/https://forge.codesys.comd89a428f6e95f19783d5d446bdad20d5580b8216

<div class="markdown_content"><p>Hi Joseph!</p> <p>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....</p> <p>Good luck!</p> <p>Alfred</p></div>

2020-02-27T18:27:10.032000Z2020-02-27T18:27:10.032000Zjosepmariaramshttps://forge.codesys.com/u/josepmariarams/https://forge.codesys.com724ec8cec31f5248c41677724459f54468ce785e

<div class="markdown_content"><p>Dears.</p> <p>I am working with an Lenze i700 it wors fine but I cannot give to the drive an torque addition.</p> <p>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?.</p> <p>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.</p> <p>Be healty!</p></div>