Hello B&R Community members,
I’m learning how to use a AcoposMicro 100D drive. I don’t have B&R motors to learn with, but I do have a 24V Beckhoff motor that I think could integrate with the AcoposMicro. I created a simple project to try to move the servomotor, but when I try to start it, Mapcockpit gives me an error saying that PLCopen can’t start it because the axis is incorrectly configured. I’ve attached screenshots of the documentation I’ve consulted, as well as the parts where I’ve configured the motor in Automation Studio 4.12.
Something that seems promising is that if I manually move the servomotor shaft, it does change position in the Mapcockpit window. What do you recommend I read or change in order to move the servo? Or is it just not compatible with the drive?
Any advice is greatly appreciated. Thank you for reading my post!
PROGRAM _INIT
(* Insert code here *)
Eje1Fub.Enable:= TRUE;
Eje1Fub.MpLink:= ADR(gEje1);
Eje1Fub.Parameters:=ADR(Eje1Par);
END_PROGRAM
PROGRAM _CYCLIC
(* Insert code here *)
Eje1Fub();
END_PROGRAM
PROGRAM _EXIT
(* Insert code here *)
END_PROGRAM
PLCopen state “Invalid configuration” means that necessary parameters are missing in the configuration.
In your case most likely the motor parameters.
Here is how to set 3rd party motor parameters for ACOPOS drives.
Add a “MotorSynchronous_any” component to the “System designer” or the “Physical view”.
As Christoph Hilchenbach rightly mentions, configuring third-party motors for the ACOPOSmicro is quite an interesting and difficult challenge for me. What I tried was a different approach to attempt to move my 24-volt Beckhoff AM3111 motor. I managed to make some progress, but even so the movement achieved on the motor is erratic, and I am not sure which configuration conditions I may be setting incorrectly.
For example, an absolute movement of 5 or 10 units does move the motor shaft, but if I try to move more units, the motor goes into a fault state, as if it disconnects or commutates incorrectly. I believe it may be more sensible to obtain a B&R motor compatible with the ACOPOSmicro, perhaps an 8LVA, in order to continue learning.
It was quite a surprise to realise that adapting a third-party motor within the Automation Studio ecosystem is actually a good strategy, as it further protects intellectual property. I am sharing some screenshots I took in Automation Studio and of my servo motor. What I marked in blue in the screenshots is where I am unsure whether everything is correct, or whether that is where I am making the configuration error.
i am a bit confused as there are pictures of mappCocpit (mappMotion) and Test-Window (Apc10); which system did you intend to use. As the last picture was Test-Window i will use Test-Window in my Post.
Winding Cross Section
This value is more for the Temperature-Modell not for motor movement. A rugh estimination is ok.
Resolver Pole Pairs
It looks like you can freely move the rotor. So if you get a valid Position Feedback, you can assume that the Pole Pairs is correct. Just rotate the Motor 0-360° and compare Values Displayed in Watch of Test-Window.
“monitor.s”
Cummutation Offset
Did you used the commutation finding algorithm to check the commutation offset.
I recommend to use Mode “Stepper” as it is the most precise one. You can let Parameters empty, the system will use values selected by motor Parameters.
Repeat the function 3 -5 times and use a middle of the messurements.
You can get Values with a multiple of 2*PI = 6,283
Thank you very much for your guidance. Regarding what you mentioned about the confusion, it is true that I did not clarify it, my apologies. Initially, I wanted to use mappcockpit because I saw some tutorials on YouTube about how to use that environment. However, later I saw another post on the internet about the (Apc10) mode, and I found this environment more user-friendly. Since I was able to move the motor a little, I decided to stick with (Apc10).
Yesterday, I did some more tests and noticed that I did not have a correctly defined commutation offset value. When I changed this value and loaded it into the system, the motor exhibited very noticeable changes, such as jerks or buzzing sounds. I thought that perhaps my configuration was wrong in that regard. Today, I will try the “Stepper” mode method, which I am sure will help me a lot.
Finally, I would like to know if there is another tool in Automation Studio that I could use to identify where the commutation error lies. I saw a tool called the servo loop configurator, but I don’t understand it at all.
Thank you very much for the support. I will keep you informed.
The Servo Loop Optimizer is a tool which is specificaly designed to analyse the Frequency Responce of the Motor Control Loop. It is used to set up the Filters of the Speed-Controller if needed.
The tool is mainly focusing on optimizing the Controll Loop not to do initial commissioning.
The commutation offset can only be identified via the setup function shown by the pictue or a similar PLCopen Function for Programming.
Good luck with your tests.
After the identification of the Commutation offset i would recommend doing an Auto-Tuning of the control Loop.
Hi @jesus_najera, I think you got a lot of good advice here. Can you update us with the status of your issue or mark the reply that helped you the most? Thanks!
I just want to say thank you. Although I haven’t been able to freely carry out engine movements because I’m struggling with the custom configuration, I’m learning a lot. Thanks to the site administrators for allowing me to learn so much.
Not a problem. We are happy to help If you want to upskill yourself, we also have online courses. Some of them are free, some are paid. If you want to try it, I can recommend e.g. this: Release 2026: Software Architecture in Automation - online course — it has upskilling value and is free. If you have any requests in this direction, you can get in contact with our Automation Academy.
