Using Torque Op mode with SMC_SetControllerMode change CMD parameters

[ericvergara]

Hello,

If I change to smc_torque in the "SMC_SetControllerMode" function block the cmd of the position, velocity and torque changes constantly and I cannot find a way to change it,

It seems that the force/control mode is selected in the Drive but then the CMD of the parameters are updated

I only have one drive with softmotion and I changed the mapping of the variables but the problem still persists,

How can this be solved?

Many thanks,

[ericvergara]

Hello,

It seems that there is an error in the .xml file of the Rexroth Softmotion axis,

The Parameter Id 8540 corresponds to the Torque, not the position

We modified this and now the SetTorque function block works,

Please can anyone check this .xml, we do no know how many paremeters are wrong...

[CDSAddons]

- which drive and which SofMotion driver is involved?

- you need a configuration which maps position and torque - to the cyclic data - these drivers are usually ready to use - not needed to edit any xml files to use it.

[georkueh]

Hi,

we'll check your feedback!

kind regards

[georkueh]

Hi,

It seems you're right reagrding the xml file of the Softmotion adaption layer. I created Bug 584974 to fix this issue.

kind regards

[LiuPengfei]

Hello,

I tried SMC_SetControllerMode and SMC_SetTorque on my hardware, it can work.

My test steps are:

In IO engineering:

• add S-0-0040 and S-0-0084 on AT;

• add S-0-0036 and S-0-0080 on MTD;

• download configuration.

In PLC engineering:

• online update RT-datalayer node of ECmaster.

• insert a soe axis below ctrlX-drive node, velocity and torque can be auto mapped.

• powerOn axis, and using SMC_SetControllerMode and SMC_SetTorque to switch mode and set torque. Torque mode can be actived and torque command can output.

It is hard to test torque, beacuse the axis will acelerated if a torque is applied.

What I do is  removing the cable of brake, and disable wire monitoring. Then, the brake will not relase you may set a required torque less then the brake.

Thanks a lot for finding the typos of xml, it will be fixed in next release version.

[LiuPengfei · Accepted solution]

Hi,

The error in description file will fixed in next release of adaption package.

Yes, the error in description file may lead switching torque mode work incorrectly.

If you don't wait for next release, you can edit the decription file manually and reintall it in deveice repository.

There should be 2 changes:

<Parameter ParameterId="8040" type="std:INT">
  <Attributes channel="none" download="true" functional="false" offlineaccess="read" onlineaccess="read"/>
  <Default>
    1168
  </Default>
  <Name name="localStrings:out.dwSetTorque">
    MDT.Torque_force_command_value
  </Name>
</Parameter>

...

<Parameter ParameterId="8540" type="std:INT">
  <Attributes channel="none" download="true" functional="false" offlineaccess="read" onlineaccess="read"/>
  <Default>
    1119
  </Default>
  <Name name="localStrings:in.dwActPosition">
    AT.Actual_velocity_value_encoder_1
  </Name>
</Parameter>

Thank you!