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12-05-2022 01:41 PM
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,
Solved! Go to Solution.
12-14-2022 10:57 AM
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...
12-23-2022 08:44 PM
01-02-2023 11:15 AM
Hi,
we'll check your feedback!
kind regards
01-02-2023 11:30 AM
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
01-03-2023 08:09 AM - edited 01-03-2023 08:14 AM
Hello,
I tried SMC_SetControllerMode and SMC_SetTorque on my hardware, it can work.
My test steps are:
In IO engineering:
In PLC engineering:
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.
01-13-2023 01:55 AM
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!