In our workshop we have a Lenze i950 servo drive that has an EtherCAT bus and CiA402 compatibility. The WAGO is PFC200 750-8212 and as per documentation it has built-in license for SoftMotion Light functionality. It is not capable of supporting the full SoftMotion functionality like gearing and synchronizing.
I added the EtherCAT esi files from Lenze and the EtherCAT master does see the drive, then I added a SoftMotion Light Axis object. The problem is that I can only energize the axis, I cannot execute any other commands. I set the positive and negative torque limits from the PDOs to 200% and when I try to move the axis by force it does not move back to its original position.
I use the SML function blocks from the PLCOpen library and the error from the function blocks is that the op mode cannot be changed.
Then I tried using a standard SoftMotion axis object and everything works fine, except the MC_Home function block. The axis moves back to its position when forced out of it.
Hello,
In our workshop we have a Lenze i950 servo drive that has an EtherCAT bus and CiA402 compatibility. The WAGO is PFC200 750-8212 and as per documentation it has built-in license for SoftMotion Light functionality. It is not capable of supporting the full SoftMotion functionality like gearing and synchronizing.
I added the EtherCAT esi files from Lenze and the EtherCAT master does see the drive, then I added a SoftMotion Light Axis object. The problem is that I can only energize the axis, I cannot execute any other commands. I set the positive and negative torque limits from the PDOs to 200% and when I try to move the axis by force it does not move back to its original position.
I use the SML function blocks from the PLCOpen library and the error from the function blocks is that the op mode cannot be changed.
Then I tried using a standard SoftMotion axis object and everything works fine, except the MC_Home function block. The axis moves back to its position when forced out of it.
I follow this guide from Lenze - Lenze i950 CODESYS V3
What could cause this issue with the SoftMotion Light axis object?
Best Regards
Konstantin Kolev
Last edit: konstantin 2 hours ago