MC_TorqueControl of Twincat with ctrlx Drive

[Yacine]

Hello, 

One of our customers is using an MS2N04-B0BTN motor with an XCS2-W0023 drive to control an electric actuator via TwinCAT. The setup is in Torque Control mode to apply a constant force while limiting speed. However, when using MC_TorqueControl, the VelocityLimitHigh and VelocityLimitLow parameters aren’t respected, causing the motor to accelerate to max speed.

Beckhoff recommended parameter P-0-0486 to add speed limits in the MDT (see attachment), but this parameter appears to be specific to Beckhoff drives. The customer also tried adding S-0-0038 and S-0-0039 (min/max speed) in MDT, but these don’t affect the MC_TorqueControl behavior, and the FB doesn’t support direct speed limit settings.

Any insights on why these limits are ignored or suggestions for a workaround would be highly appreciated!

Thanks in advance!

[CodeWasi]

Hi Yacine,
what about setting the drive in velo-control and continously input ot the torque-cmd in S92. The velo-cmd can contiunously updated as well and treshold will be respected. Since the priority of velo control would result in failuremonitioring (drive-velo-cmd may not be followed) this needs to be deactivated with P556.bit1.

Bye