03-25-2019, 02:56 AM
We have MotionCore IPC connected to Axor motors using EtherCAT
the movement of the motors is split into three parts, the first part is moving fast according to the required profile, the second part is to move slow and stop when the sensor detects an object (digital input from the motor PDO communication), the third part is returned to the same position as started.
so we decided to implement the first part with Linear movement mode and the second part with Rapid movement mode.
But we encountered many communications errors when Controller switches from Linear to Rapid mode.
The motor needs to get SYNC0 signal and if it doesn't get for 3ms it makes motor stops with failure. so when switching from Linear to Rapid mode it seems that the SYNC0 signal is delaying.
Now we switched the second part of the movement to linear mode but it requires that we move in small intervals and check between intervals which makes this movement much slower than what we need.
is only Rapid mode provide an option to simultaneity move and interact with sensor digital input?
Why we are suffering from communication problems when switching movements modes?
the movement of the motors is split into three parts, the first part is moving fast according to the required profile, the second part is to move slow and stop when the sensor detects an object (digital input from the motor PDO communication), the third part is returned to the same position as started.
so we decided to implement the first part with Linear movement mode and the second part with Rapid movement mode.
But we encountered many communications errors when Controller switches from Linear to Rapid mode.
The motor needs to get SYNC0 signal and if it doesn't get for 3ms it makes motor stops with failure. so when switching from Linear to Rapid mode it seems that the SYNC0 signal is delaying.
Now we switched the second part of the movement to linear mode but it requires that we move in small intervals and check between intervals which makes this movement much slower than what we need.
is only Rapid mode provide an option to simultaneity move and interact with sensor digital input?
Why we are suffering from communication problems when switching movements modes?