ctrlX DRIVE controlled by TwinCAT - EtherCAT CoE

[dhg]

Hello,

Being the following architecture:

• Beckhoff PLC using TwinCAT with NC/Motion
• ctrlX DRIVE
• EtherCAT CoE

When linear scaling type, the position value does not reflect the same in the ctrlX DRIVE and TwinCAT

ctrlX DRIVE:

TwinCAT:

When I try to modify the encoder resolution in TwinCAT to match the values of the encoder, the axis doesn't move smoothly. 

Could you tell me if some configuration has to be set on the TwinCAT side in case of linear scaling? 

Note: for rotary scaling type it works OK. And with EtherCAT SoE, I am not having problems either (not in rotary not in linear). 

If you need more information, let me know. 

Thank you. 

[Drives_Uwe · Accepted solution]

Please send the parameter file for evaluation. But looking to your screenshot of the actual position (0x24C0:01/S-0-0051) this is a very poor resolution using 0,1 mm.

You may adjust it in setting

[dhg]

After changing position scaling exponent from -4 to -7, it is working correctly.

Thank you for the support.