Activity for pin-f
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pin-f posted a comment on discussion Runtime
Hi Arj, have a look here https://forge.codesys.com/forge/talk/Runtime/thread/dc9a3f8223/
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Addition: Even, when the movment is very slow and only the 3 CSP axes are activated, the y-axes runs into SMC_DI_POSITIONLAGERROR. While moving that slow ( ~15 mm/s) the acceleration is sometimes very high...any guess what's going on here!? btw: the feed is configured with 1/10th mm
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Hi, in a motion program 3 axes should run in softmotion/CSP-Mode and 3 axes in SoftMotion_Light. I want to move a gantry (X-Y-Z) and some slower single axes. It's a BBB and IDE/Runtime 3.5.15.20 I configured the Nanotecs C-5-E-02-09. From CANopen manager up to interpolation time period value(C-5-E 60C2h) everything is configured to 4ms. But after 1 sometimes 2 successfull reached positions the y-axis got a SMC_DI_POSITIONLAGERROR. The Jitter of the Interpolator Task you can see at SoftMotion_Planning...
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Hello Edwin, thank you, works like charm!
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Hello Edwin, thank you, works like charm! Regarding the CANopen Manager_SoftMotion: How about additional regular CANopen devices, like IO Module? Another "CANopen_Manager" with ID 126 and IO Module as Node or just a direct CANdevice onto "CANbus"? There is no documentation about multi-bus management.
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I have a question here with BBB & Preempt: when the Soft Motion Task and Cycle Period should be the same, how about the correct window length? Following Situation: In my experience the BBB can handle maximum 3 Axes with 2ms task time with MC-objects /2ms cycle period (and which window size preferable?!) / ms PDO send/receive. with 4ms and 4 axes, the system stats to ripple while moving. When adding a 4th axis, the axis will drop out or there will be laggy and faulty homing cycle. but my can interface...