How to communicate with external ethercat drive

Quote from Kuka60HA

Danny,

With this programm, I'm able-ish to make it rotate constantly

I'm saying -ish because there's a trick...

The first time I start the programm, the motor rotate half of a turn and stop (he reaches the velocity I guess)

But if I reload the programm and start it (from INI), now it turns constantly !

And then I can use an output to stop it (1319 i.g.)

It already happened to you ?

&ACCESS RVP

&REL 157

&PARAM EDITMASK = *

&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe

DEF testmda2( )

SIGNAL O_CONTROL_WORD $OUT[1300] TO $OUT[1315]

SIGNAL O_MODES_OF_OP $OUT[1316] TO $OUT[1323]

SIGNAL O_TARGET_POS $OUT[1324] TO $OUT[1355]

SIGNAL O_PROFILE_ACCEL $OUT[1356] TO $OUT[1387]

SIGNAL O_PROFILE_DECEL $OUT[1388] TO $OUT[1419]

SIGNAL O_PROFILE_VEL $OUT[1420] TO $OUT[1451]

SIGNAL O_TARGET_VEL $OUT[1452] TO $OUT[1483]

...

$OUT[1300] = FALSE

WAIT SEC 1

$OUT[1300] = TRUE ; enable communication

O_CONTROL_WORD = 15

O_MODES_OF_OP = 3

O_PROFILE_ACCEL = 15000

O_PROFILE_DECEL = 500

O_PROFILE_VEL = 20000

$OUT[1318] = TRUE ; stop the motor

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Did you tried this:

O_CONTROL_WORD = 271  ; stop the motor
O_MODES_OF_OP = 3     ; set profile velocity mode
O_PROFILE_ACCEL = 15000
O_PROFILE_DECEL = 500
O_TARGET_VEL = 20000  ; set velocity

O_CONTROL_WORD = 15  ; start the motor

Quote from Kuka60HA

Yes I tried it as well but didn't work

Ok, then you'll have to figure it out on your own by trial and error I guess. Those are values written in the manual.Usually manuals are correct. So in your working-ish code you have $OUT[1318] = TRUE ; stop the motor for stoping the motor, but from the manual and your program that signal is part of the MODE_OF_OP register so what is then right? I can only blindly guess 🤣, but I never worked with this drive neither I have option to test other values to give you the direct solution, but from the manual nothing special is written. One should just set the correct outputs in correct order and magic should happen. But I could also be miss reading something, somewhere in the manual.

why do you have line like

$OUT[1318] = TRUE ; stop the motor

as i see it, that is an unconditional stop and it is processed practically at the same time you are initializing motion. can you try to run without it or add before it something like :

WAIT SEC 5 ; give it time to run before stopping.

Quote from panic mode

why do you have line like

$OUT[1318] = TRUE ; stop the motor

as i see it, that is an unconditional stop and it is processed practically at the same time you are initializing motion. can you try to run without it or add before it something like :

WAIT SEC 5 ; give it time to run before stopping.

But isn't the signal $OUT[1318] part of the O_MODE_OF_OP(mode operation) and that signal shouldn't have anything with controling the motor. From the manual 16-bit Control Word(0x6040) register should be used for controling(enabling&stopping,halt,etc) or maybe he meant $OUT[1308] signal which from the manual is performing somekind of shutdown.

maybe... did not go into details.. i just read it as "stop the motor = true"

Quote from panic mode

maybe... did not go into details.. i just read it as "stop the motor = true"

Aaaa I see, just from the manual, with this $OUT[1318]=TRUE should be changing the drive to different mode of operation while motor is rotating in velocity mode.