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LiuPengfei · ‎01-13-2023

Hi, The error in description file will fixed in next release of adaption package. Yes, the error in description file may lead switching torque mode work incorrectly. If you don't wait for next release, you can edit the decription file manually and reintall it in deveice repository. There should be 2 changes: <Parameter ParameterId="8040" type="std:INT"> <Attributes channel="none" download="true" functional="false" offlineaccess="read" onlineaccess="read"/> <Default> 1168 </Default> <Name name="localStrings:out.dwSetTorque"> MDT.Torque_force_command_value </Name> </Parameter> ... <Parameter ParameterId="8540" type="std:INT"> <Attributes channel="none" download="true" functional="false" offlineaccess="read" onlineaccess="read"/> <Default> 1119 </Default> <Name name="localStrings:in.dwActPosition"> AT.Actual_velocity_value_encoder_1 </Name> </Parameter> Thank you!

LiuPengfei · ‎01-03-2023

Hello, I tried SMC_SetControllerMode and SMC_SetTorque on my hardware, it can work. My test steps are: In IO engineering: add S-0-0040 and S-0-0084 on AT; add S-0-0036 and S-0-0080 on MTD; download configuration. In PLC engineering: online update RT-datalayer node of ECmaster. insert a soe axis below ctrlX-drive node, velocity and torque can be auto mapped. powerOn axis, and using SMC_SetControllerMode and SMC_SetTorque to switch mode and set torque. Torque mode can be actived and torque command can output. It is hard to test torque, beacuse the axis will acelerated if a torque is applied. What I do is removing the cable of brake, and disable wire monitoring. Then, the brake will not relase you may set a required torque less then the brake. Thanks a lot for finding the typos of xml, it will be fixed in next release version.

LiuPengfei · ‎12-27-2022

Hi, Here is asimple demo code, maybe helpfull for you. Declaration: PROGRAM IL_FTPPut_Test VAR fbFTPPut : IL_FTPPutAsync; fbFTPPutFile : IL_FTPPutFileAsync; filebuf: STRING(5000) := 'asdasd$R$N12312312$R$Npoipoi$R$N'; sendlen: UDINT; itestcase: INT; END_VAR Implementation: fbFTPPut(); fbFTPPutFile(); CASE itestcase OF 1: // put string fbFTPPut.Address := '192.168.1.101'; fbFTPPut.Login := 'MyPcUserName'; fbFTPPut.Password := ''; fbFTPPut.RemoteFile := 'ftpsavefile'; // existing file fbFTPPut.ValueAdr := ADR(filebuf); fbFTPPut.NoOfBytes := IL_LEN(adr(filebuf)); sendlen := fbFTPPut.NoOfSendBytes; fbFTPPut.Execute := TRUE; IF fbFTPPut.Done THEN fbFTPPut.Execute := FALSE; itestcase := 0; END_IF 2: // put fie fbFTPPutFile.Address := '192.168.1.101'; fbFTPPutFile.Login := 'MyPcUserName'; fbFTPPutFile.Password := ''; fbFTPPutFile.RemoteFile := 'ftpcoty.scope'; //300kB fbFTPPutFile.LocalFile := ADR('_cnc/xy_2.scope'); sendlen := fbFTPPutFile.NoOfSendBytes; fbFTPPutFile.Execute := TRUE; IF fbFTPPutFile.Done THEN fbFTPPutFile.Execute := FALSE; itestcase := 0; END_IF END_CASE

LiuPengfei · ‎07-13-2022

Sorry I made a typing error😓. I mean CXA_PLCOPEN can not work without app.motion.

LiuPengfei · ‎07-13-2022

After I checked, ctrlX 1.12.x dose not support velocity mode yet. The velocity mode support start from MOT 1.14 AxisInteface 1.16. However, 1.16 has not relase yet, the version will come very soon. So you can't use AxisInterface yet. But firmware inferface is avialiable, that is CXA_Motion, you can take this way: Install ctrlX works 1.14.x update image of ctrlX CORE to 1.14.x install MOT1.14.x and PLC 1.14.x using CXA_Motion.ML_AxsVelocity() to create a velocity command on axis. Example code like this:

About LiuPengfei

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