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Hello please add the cyclic AT Telegram reganrding Torque and Speed (S40/S84) and map the signals in the axisprofil toward the motion. This is going to solve the issue. Bye

CodeWasi

Hello, please find the addon package of Codesys Ethercat in the collaboration room for download: After the successful installation of the package the adding will be possible. Bye PS Sorry for the delay in response.

CodeWasi

Hi Open, sorry i did not realisze the lag. in 1.20 version the "homed" info is not yet supported. Since 2.x version the homed bit is not supported like expected - since the it is updated during PowerOn on the axis. I recommend to place the S403 info into the cyclic telegram and check this inside the PLC by realtime-add. Closing with the positive info that malfunction is placed as fixed soon. Thanks

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

CodeWasi

Hello, I could not reproduce your described behaviour. Based on 1.20 version : - core status in Operation. - ctrlXDriveEngineering used to delete the Ref-status - check within the Datalayer the cmd and it works form Motion-app side: - Used the axis-interface Please verify that the motion is in operational and without failure blocking the command. Check ist the araxisctrl_gb.... SetAbsMass gets a rising edge. Please return with your result. Bye

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