About giustola69

Hello, I solved the problem. the ML_AddAxisToKin function was missed. Best Regards. Giuseppe ... View more

Hello Giuseppe, On the hardware side, we are in the release phase of separate high-speed input and output modules that are processed synchronously. With this modules and the distributed clock support of the EtherCAT master, you can apply appropriate solutions. The oversampling outputs, including the motion system functions, are expected to be available in October of this year. From then on, the PLS functionality can be replaced by the ctrlX platform. If you have any further questions, please feel free to write me a PN. Best regards Thomas   ... View more

I was able to recreate your results with MC_GroupReadActualPosition and MB_KinGetIpoValues. One option is to use function ML_KinGetPosData found in library CXA_Motion.  Typical usage is shown below. (Here kinematic type is Delta_TwoAxisRotational.) Note also that the KinematicInterface correctly publishes position data in the various coordinate systems (ACS, MCS, etc.). ctrlX CORE firmware: 2.4.x, ctrlX PLC Engineering: 2.4.0. ... View more

Hello, I found the reason for the strange behavior I had encountered and it was due to an incorrect setting of the coupling mode of the new profile which was set to SLAVE_ORIGIN_MASTER_ORIGIN and which therefore did not allow the axis to synchronize with the second profile because it was trying to bring the slave axis back in origin and therefore to zero. By setting the ProfileEntry as shown in the figure below, the profile change works correctly.     Many Thanks to Kohl Juergen (DC-AE/STS1) <Juergen.Kohl2@boschrexroth.de> Giuseppe   ... View more