https://forge.codesys.com/forge/talk/Motion/thread/a25f4b0941/2020-02-27T18:41:01.998000ZRecent posts to MC_HOME returns error2020-02-27T18:41:01.998000Z2020-02-27T18:41:01.998000ZKimhttps://forge.codesys.com/u/kim/https://forge.codesys.comce881e0a556f639cd2fdb5dc35c5d7bdb5a9e25f

<div class="markdown_content"><p>Yes, you should make use of the function block SMC3_ETC_WriteParameter_CoE if you want to write directly to 0x6098.</p></div>

2020-02-27T18:40:58.774000Z2020-02-27T18:40:58.774000Zhantin89https://forge.codesys.com/u/hantin89/https://forge.codesys.com7a63a388edee8ae8f4cd13a1c42d2e4e0f0efcd6

<div class="markdown_content"><p>hi,</p> <p>how to set home method (0x6098) for CiA402 softmotion axis ? <br/> because MC_HOME don't have option to set homing method and pdo mapping is available.<br/> possible to sdo write?</p></div>

2020-02-27T18:40:57.632000Z2020-02-27T18:40:57.632000ZKimhttps://forge.codesys.com/u/kim/https://forge.codesys.comb3769e50422a2d9983c7a1870279887644e5a942

<div class="markdown_content"><p>In case anyone comes here in search for an answer, here is the excellent reply that I received from Codesys.</p> <blockquote> <p><strong>Zitat:</strong><br/> For modulo axes, MC_Home will not set the home offset (0x607C) to absolute zero but to the beginning of the current modulo period. This is a value close to the actual position (between actual position and actual position minus the modulo period in increments).<br/> So, if the drive does not accept high values in 0x607C for some reason, it can be expected that this error ('Drive doesn't accept value') may occur also when calling MC_Home with Position=0.<br/> One line of inquiry would be why the drive does not accept high values for 0x607C. Maybe it is possible to configure the drive in a different way? Maybe there is a firmware update to fix this limitation?<br/> Another possible workaround would be to not use MC_Home but MC_SetPosition. It depends on the application whether this is feasible.</p> </blockquote> <p>In our case it was the drive that didn't accept high values in 0x607C and we have forwarded the issue to the supplier.</p></div>

2020-02-27T18:40:56.491000Z2020-02-27T18:40:56.491000ZKimhttps://forge.codesys.com/u/kim/https://forge.codesys.com32a4b526f9df08236f9cddc928ca7d4bb66451db

<div class="markdown_content"><p>In a bit of a hurry since our customer is about to ship the machine to the end customer.</p> <p>Codesys Runtime v3.5.7.10, EtherCAT Master (SoftMotion) v3.5.7.30, Generic CiA driver axis v3.5.7.0</p> <p>The axis is configured as a modulo with rollover 360.0, it uses the following scaling:<br/> 524288 increments = 1 motor turn.<br/> 30 motor turns = 1 gear output turn.<br/> 1 gear output turn = 90 units in application (degrees)<br/> Hence, 1 motor turn = 3 degrees.</p> <p>Homing seems to work well most of the times BUT I have issues when reaching higher position values from the encoder.</p> <p>We run continously in the same direction for quite a while, stop, then try to execute MC_Home with Home Position 0 (homing in the drive is set to method 35 = Sets the current position as the origin).<br/> Latest error occured is 'Drive doesn't accept value'.<br/> The MC_HOME block itself returns SMC_H_AXIS_DIDNT_START_HOMING.<br/> I've encountered the same error before, but those times it was due to providing MC_HOME with a too large value in the Home Position causing 0x607C Home Offset to become out of range. The value 0 should not be a problem so it must be something else.</p> <p>Some information:<br/> 0x2067 Single turn data = 290563<br/> 0x206A Multi turn data = 27659</p> <p>0x6064 Actual position = 1616380472<br/> 0x607C Home Offset = 0</p> <p>I tested the same thing in Codesys runtime v3.5.3.30, it returned the same error.</p> <p>Since the code for MC_HOME is within the compiled library SM3_Basic, I can't troubleshoot it further.<br/> Any ideas or suggestions on how to fix/workaround this, it would be very much appreciated!</p> <p>Kim Hansen<br/> Beijer Electronics Automation AB</p></div>