Hallo, du bist mit der Arbeitsweise einer PLC nicht so vertraut. Die Bausteine und Funktione in 61131 werdern immer zyklisch abgearbeitet.Vieleicht schaust du dir mal diese Videos an https://www.youtube.com/@automationTutorials dann verstehst du das Grüße
Hello, this questions you have to ask at Beckhoff :-) https://www.beckhoff.com/en-en/products/motion/servo-drives/ax5000-digital-compact-servo-drives/ax5206.html
Hello, you could directly read the EtherCAT address from the device:
Hello, I think you need some basic training to understood the Softmotion concept and how to use the PLCopen blocks. Maybe check this channel https://www.youtube.com/@sansengineering3300/videos Also take a look to online help. To do a shift of "coordinate system" the MC_Setposition could be used. https://help.codesys.com/webapp/xiNnxNPAb5nA4ocm6PFB_cHgUb4%2FMC_SetPosition;product=SM3_Basic;version=4.9.0.0
Hello, I think you need some basic training to understood the Softmotion concept and how to use the PLCopen blocks. Also a look to onlinehelp. To do a shift of "coordinate system" the MC_Setposition could be used. https://help.codesys.com/webapp/xiNnxNPAb5nA4ocm6PFB_cHgUb4%2FMC_SetPosition;product=SM3_Basic;version=4.9.0.0
Use the "dOveride" input at the SMC_Interpolator
If you are using offsets with SMC_trafo_xxx you have to know this values are direct added to the axisposition. To limit gaps and dynamics you need to limit in the axisconfiguration and with SMC_controlaxisbypos.
the "MC_Home" FB in Softmotion only starts a homing which will be executed direct from the real drive e.g. the Servo. For example a Lexium32M could execute this homing methods If you need a torque limited homing (homing on block) you need a real drive which have this functionality. On a virtual axis you dont need the MC_home use MC_Setposition.