gseidel

Dear josepmariarams, this (internal) function has been removed with SoftMotion 4.17.0.0. We do not have public functions to compute the extrema of a polynomial. On which polynomials exactly did you call SMC_Polynomial_AbsMaxLocs? (Maybe if I understand better how you limit the jerk I can come up with an alternative.) There is no functionality to limit the jerk of individual axes in the CNC. With SMC_LimitDynamics, you can limit the velocity and acceleration of cartesian (X/Y/Z) and additional (P/Q/U/V/W/A/B/C)...

Hi alex-n, are there any errors before the crash happens: MC_Phasing.Error, MC_Phasing.CommandAborted, what does the PLC log show before the crash? Does one of the drives show an error? You can achieve the same effect as MC_Phasing by using MC_GearIn and MC_MoveSuperImposed. But probably there is some problem in your application independent of MC_Phasing that can lead to the crash. Best regards, Georg

Hi darwin03, when all joints are 0°, then the 6-axis robot is in a so called singularity. This means that it is in a special position where it cannot move freely in all directions but is restricted by its own construction. For a simple example, imagine a scara robot where the arm is fully stretched. In this position it cannot move freely. You can find a lot of information about robot configurations in the www. As far as CODESYS SoftMotion Robotics is concerned, this page holds the most important...

Hi transcend, most likely cause: one of the motion FBs was not called in each IEC cycle. See https://content.helpme-codesys.com/en/CODESYS%20SoftMotion/_sm_basic_common_errors.html. A different possible error, if you are using buffermode buffered or blending: the execution order of the motion FBs was wrong. See https://content.helpme-codesys.com/en/CODESYS%20SoftMotion/_sm_buffermode_execution_order.html. Best regards, Georg

Dear darwin03, my first guess is that the axis scaling of the last axis (joint 6) is not correct. It should be confiugured so that one technical unit equals one angular degree. From the video, it rather looks like 1 technical unit is a full revolution of the joint. (This holds for all rotary axes used with SoftMotion Robotics: they must be scaled so that one technical unit equals one angular degree.) Best regards, Georg

Hi polyautomacao, hmm, did you tune the PD parameters as shown in the link I posted above? One thing that could cause the behavior are bad parameters. I also don't understand the screen shot: when you hold the encoder to 0, why is the actual position of the DrivePosControl -208? Best regards, Georg

Hi tommyk-mar, do you call SMC_SmoothPath after SMC_NCIntepreter? Both G51 in the G-Code and the function block call are needed. You can see how this can be done in this example: https://content.helpme-codesys.com/en/CODESYS%20SoftMotion/_sm_example_cnc_3.html Best regarsd, Georg

Hi polyautomacao, basically, there are two ways to approach this. My first choice would be to check whether your servo drives supports an external encoder, connect the encoder to the servo and configure the servo accordingly. In this case, you would not need to change anything in the CODESYS application. If that is not an option, you could use SM_DrivePosControl, a drive that closes the position loop in the PLC, and feed it with the external encoder positions. See (0). You can switch your servo drive...