It looks like that when commanding ModeVel with axisinterface, the secondary Op mode1 in the ctrlXDrive (fwa Version 316) is not activated.
That strange because S36 is correctly written but it is actually S47 that is written by the control.
In my opinion it is not a problem that when using ModeVel in the Control, the drive is driven in cyclic positionning because in that case the lag error is checked by the drive
But in some cases it could be a problem and I would like to be able to manage the drive really in Velocity mode.
Could you please have a look to this wrong behaviour and ask the devloppemnt departement to add an option in the axis interface that allows to choose between a ModeVel with "cyclic Positionning" OR "velocity mode"?
Solved! Go to Solution.
congratulations - I guess you found a "bug". I assume you operate on base RM2303 ( 1.20 Apps).
As you mention we would expect the a axis_interface sub-item of opmode or ModeVel describing the mode the motion and drive is operating with.
Thanks for you note! Update will follow.
The option is available in the current long term service version 1.20 (latest patch versions: ctrlX WORKS 1.20.10, ctrlX PLC Engineering 1.20.7, CXA_Motion_Interface 22.214.171.124). See the ctrlX STORE area in the collaboration room for download.