CODESYS - the IEC 61131-3 automation software

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PostPosted: Tue Mar 13, 2018 8:12 am 
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Joined: Thu Nov 02, 2017 12:09 pm
Posts: 2
Hi,

I am trying to control Omron G5 (R88D-KN01-ECT) in Torque mode.
I use Codesys V3.5.12 and Codesys RTE 3.5.12.0 Softmotion in Windows 10.
To control in Torque mode, as Omron G5 manual, I must change PDO mapping as: use #1704 for output,
use #1B02 for input.
Then I also add to Startup Parameter: 60E0( positive torque limit value) , 60E1(negative torque limit value), 607F (Max profile velocity), 6060 (Op Mode).
After setting, I use SMC_SetTorque to control torque, but the actual torque is not change (keep 0).
I don't know why I can not control Torque.
Can anyone help me to solve this problem.
I also attached my project and source.

Thanks

Nguyen akv


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PostPosted: Tue Mar 13, 2018 6:26 pm 
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Joined: Mon Sep 05, 2005 9:42 am
Posts: 3019
Hi,
remove the MainTask...

BR
Edwin


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PostPosted: Wed Mar 14, 2018 7:28 am 
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Joined: Thu Nov 02, 2017 12:09 pm
Posts: 2
Hi Edwin,

I tried to remove Main_Task as you guide.
But I can not to control torque.
Can you give me any suggestion and ideal to control in Torque Mode with Omron G5?
I see that ESI file(.xml) of Omron G5 is newer than ESI file (.xml) of Codesys make for Omron G5.
As I understand, Codesys use "ESI_Omron_R88D-KNxxx-ECT_Ver2_0_rev09.xml.
But Omron servo Drive will use "Omron R88D-KNxxx-ECT.xml".
What do you think about the difference of that?
Because I can control normally in Position Mode, but when change PDO mapping to Torque mode
I can not control torque.



Thanks,
Nguyen AKV


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