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Roald87 / roald87.github.io

Mostly cooking and coding in TwinCAT.
https://cookncode.com
MIT License
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Additions torque control #69

Closed rruiter87 closed 1 year ago

rruiter87 commented 1 year ago

comments from users to add to the article:

Some additional information: MC_TorqueControl requires Tc3 3.1.4024.15 (both XAE and XAR) or later. As OP mentioned in the article, 4024.35 is required for the continuous force mode.

AX5000 requires firmware 2.14 or later.

AX8000 requires firmware 1.03 Build 002 or later.

VelocityLimits are working in case AX5 or AX8 is used. This limitation is a feature inside AX firmware and currently not planned for EL, ELM or AMI.

In TorqueMode NC axis is writing permanent ActPos into SetPos variable. Due to deadtime ActPos is for Beckhoff drives 4 cycles delayed. With time compensation on Encoder and Drive this is compensated, which is important if you switch back into PosMode.   TorqueControl fb can be used for all SoE or CoE drives, but may be without velocity limit function.

Using: Options.EnableManualTorqueStartValue := TRUE; Options.ManualTorqueStartValue := axis.NcToPlc.ActTorque; Will most likely give you a smoother transistion if you go from one movmenet like velocity/position to torque movement.