https://forge.codesys.com/forge/talk/Motion/thread/b67153fa76/2020-02-27T18:30:57.363000ZRecent posts to Softmotion library and breakpoint when control velocity axis2020-02-27T18:30:57.363000Z2020-02-27T18:30:57.363000ZGiulix72https://forge.codesys.com/u/giulix72/https://forge.codesys.comabf997fd0158a0904b72352a15f0c7209730ac7a

<div class="markdown_content"><p>Hi to all. I want to write code to position control of a single axis in the PLC. The drive is velocity-controller axes with position feedback in quadrature encoder.</p> <p>What I need is (I think) the softmotion library and a pid FB.</p> <p>My question is: since all the softmotion and pid code is in application level, what appen when the application stop or my application code have a breakpoint? Does the axis begin uncontrolled? and can run over softlimits. ?</p> <p>Is there the possibility to run softmotion and pid in special task that run Always?</p> <p>thanks<br/> Giuliano</p></div>