Axis Group and PosControl

Motion 🇬🇧
cvigier
2022-12-30
2023-01-04

  • cvigier - 2022-12-30

    Hello,

    I'm playing with two stepper drivers (E7041) working in "PosControl" loop , and ending two of the three axis of a SCARA cinematic axis group.

    As shown in attached pictures, the drivers velocity setpoint (iSetVelocity) have very low acceleration and deceleration and do not follow the position controller output (fSetVelocity).

    Any setting seems to have an effect ...

    The PLC used is Codesys SoftMotion Win V3 x64 3.5.15.30 and Softmotion 4.6.0.0.

    Any idee or explanation is welcome.

    Thanks in advance

     
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  • eschwellinger

    eschwellinger - 2023-01-02

    I would try to execute SMC_Startupdrive FB and do this in the Ethercat task context to move the drives and sure update to latest SoftMotion version is always recommended.

     

    Last edit: eschwellinger 2023-01-02

  • cvigier - 2023-01-03

    Thanks, I going to try this.

     

  • cvigier - 2023-01-04

    Re,

    So, as the drives runs (even if they accelerate and decelerate slowly) and the program works, I wanted to test with the RTE runtime.

    I've installed the 3.18.40 version of Codesys with SoftMotion 4.12. but the bus doesn't work.

    Please, see the PLC log an components configuration in attached pictures.

    What could I have missed ?

    Thanks for any help.

     
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