Originally created by: rettore84

Hi All,

I have two old Yaskawa SGDA servo packs with no Fieldbus communications, with an analog input for speed reference and an incremental encoder output. I'm using a Raspberry Pi 3, with Ethernet/IP and a Wago 750-352 EIP IO rack with two Encoder inputs and two -/+10V analog output modules.

My intent is to use the CNCTable project example with my setup. The example project uses the SM_Drive_Virtual, I suppose I cannot tie the Wago IO to the parameters of SM_Drive_VIrtual.

I found the POSCOntrol project example where the parameters of SM_POSCOntrol, in.wActPosition and are tied to an Ethercat Buscoupler with an analog output module and encoder input module.

My question is, would it work if I replace SM_drive_Virtual in the CNCTable project with SM_PosControl, use the POSCOntrol axis with the SoftMotion function blocks, in the CNCTable project, and tie in.wActPosition and to my IO?

Thank you.

Hi,
how fast is the IO Update via EIP for the encoder?

BR
Edwin

Originally created by: rettore84

The default RPI is 10ms, and not sure how deterministic this will be. Is this what you were asking?

Hi,
yes exactly,
if this is determinitic it might work,
it is an option to chose these ethercat modules from the posControl poject example.

BR
Edwin

Originally created by: rettore84

Thank you Edwin,

One question that I have is, the SM_Poscontrol module has a PID loop configurator for speed/position control, while SM_Drive_virtual and Sm_Free_Encoder don't, but I suppose I could still use them, in that case, how is the position/speed controlled?

Hello,

you need to use poscontrol other wise you do not have the PID Loop fot Controlling your analog drive.

Encoder and virtual axis are Independent from that - and used as 'virtual' axis , encoder as encoder axis - both could be for example connected as master axis for caming or mc_gearin. mc_phasing etc.

BR
Edwin