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No Velocity feedback Motion - PLC

MauroRiboniMX
New Contributor

No Velocity feedback Motion - PLC

Hi to everyone, 

Today i was starting an application with my customer and we encountered a problem. The device situation is the following:

MauroRiboniMX_0-1667575375811.png

ctrlX works 1.12.3. 

 

If we try to read the velocity of a real axis we have no feedback. In other hands the FB is working perfectly with a virtual axis. 

MauroRiboniMX_1-1667575455182.png

 

MauroRiboniMX_2-1667575469949.png

 

Do you know what can have we done wrong? This is the fist time i encounter this problem.

Thanks 

Mauro

 

 

5 REPLIES 5
Jochen_Mueller
Community Moderator

Re: No Velocity feedback Motion - PLC

Hello Mauro

Please take a look at this threat:

https://developer.community.boschrexroth.com/t5/ctrlX-MOTION/Axis-data-and-diag/m-p/61348

Regards

Jochen

Info
New Poster

Re: No Velocity feedback Motion - PLC

Hello, 

I am the customer developing the application.

As I read in the suggested thread, I added the velocity and torque feedback to the variables in AT in the CtrlX IO Engineering. 

 

image.png

 Then I can see the variables in the Data Layer in the PLC

image (1).png

 However I still don't see the velocity varying from 0. I tried both linking a plc variable to the object in the datalayer both with the MC_ReadActualVelocity function block.

In the web interface/Axis profile, I can now see the feedbacks but I don't have where to map themInfo_1-1667817659503.png

Thank you,

Giacomo

Jochen_Mueller
Community Moderator

Re: No Velocity feedback Motion - PLC

Hello

Motion App Version 1.12

You are using the Version 1.12. Here the Motion don't support the Veloctiy Mode. So you don't have the possibilities to map the veloctiy at the axis profile.

-> The PLC open FB MC_ReadActualVelocity don't gives you any velocity data from the real drive (virtual it is working)

The only possiblity to get the drive veloctiy at the PLC, you have to map the value at the DataLayer_Realtime inside the PLC-Engineering.  -> see Screenshot. Here I make a global variable mapped to the AT.Velocity_feedback_value_of_encoder_1. You see the Value 91552 = 9,1552 RPM (DINT value)

notes:

  • the DataLayerRealtime looks different at your version. Because I have done the screenshot with the version 1.16. But the principe is the same.
  • You have to use the variable somewhere at the implementation that the value will be updated.

Jochen_Mueller_1-1667894080027.png

 

Motion App Version 1.14 and higher

Beside the upper descripted way, in the version 1.14 (or higher) the Motion App supports the velocity mode. Means it is possible to map it at the AxisProfile. Then the motion get's knowledge about the actual drive velocity and can be read vie the plcopen FB.

Jochen_Mueller_2-1667895590072.png

Jochen_Mueller_3-1667897370244.png

 

Regards

Jochen

Info
New Poster

Re: No Velocity feedback Motion - PLC

Thank you for your precise answer.

We tested the velocity and we can now update correctly the velocity in exchange with Ethercat with Version 1.12.

Is there a way to update to 1.14? In the App section of the ctrlX web Interface I don't see any App with available updates and the version in the app store is 1.12.

Thank you

MauroRiboniMX
New Contributor

Re: No Velocity feedback Motion - PLC

Hi, 

First of all thanks for the availability @Jochen_Mueller . Happy that it was not our misconf but just a "missing" feature in 1.12.

Till now we will manage to get the velocity using the readParameter function. (see Read Params thread). 

Thanks 

 

Mauro 

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