CODESYS - the IEC 61131-3 automation software

Dears.

I am working with an Lenze i700 it wors fine but I cannot give to the drive an torque addition.

Torque addition is mapped in pdo, but it is allways 0, and I have not seen in anywhere the load inertia. Anybody knows how I can parameterize it?.


In any case, it is possible to access the addtorque variable from the axis_ref?. If it is possible the torque feedforward could be cqlculated having in count load inertia and static and viscous friction.

Be healty!

Hi Joseph!

Are you still looking for a solution? Function block "SMC_SetTorque" of library SM3_Basic should do this job to fill the fSetTorque in the axis_Ref. I'm using it with CiA-402-drives (Stober SI6, SD6), and it works fine....

Good luck!

Alfred

Hi.

In Lenze drives exist setTorque and addTorque.

The first is when you are working in torque mode and the other acts as a feedforward when you work in sync velocity or position mode.

I have not test, but I am thinking that it doesnt works.

Thanks

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Hi Joseph!

You are right, in the standard AXIS_REF_SM3 of Codesys there is no entry for a Torque Offset. What you can do is to map the parameter manually to a plc-variable and write the calculated torque offset to that variable (must be in units that the drive needs!).

If Lenze has a special Softmotion driver (may be part of their control system), this might have an extended AXIS_REF, where the offset is mapped internally. But that's something I don't know....

Or maybe, internal in the drive they interpret fSetTorque as an offset, if the drive is in mode csp or csv..... This should be written in the documentation....

Best regards

Alfred

Hi Alfred.

The question is:

In axis_ref, is not vissible an addspeed variable, but it is mapped to the addspeed pdo.

I think there is an non vissible addtorque variable in the axis_ref struct.

Yes, I can create an add torque variable in my code and mapping it, but...

You can extend axis_ref, but twincat maps an axis_ref directly to the input outputs, not your extended axis_ref....

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