I use B&R Automation Studio 3.0.90, their PLC X20CP1485-1 and stepper drive module X67SM2436. ACP10 library. I need to rotate stepper motor only clockwise (process demands it). On the other hand I need coordinate was only in 0-360 rang and do not grow infinitely. What should I do?
Hi,
I haven’t any experience with axes programming, but when using ACP10 I think you could have a look here how to setup periodic axes:
https://help.br-automation.com/#/en/6/libraries%2Facp10_mc%2Fkonzept%2Fachsperiode.html
Best regards!
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For ACP10, you will need to use the Smart Device Controller (ACP10SDC) functionality so that ACP10 can control the non-servo axis.
(If you aren’t using any feedback on B&Rmotors (SSI, ABR, Hiperface), but internal step count, they have 1.8 degree steps. With the X67SM2436 capable of 256 microsteps, you have 51200 microsteps per revolution. I recommend using a 3600 units per motor revolution setting for the Axis Scaling, this gives you 10th of degree accuracy without encoder feedback).
Within ACP10 you’ll need to set the Axis as periodic either in the mapping table via the additional information, or use the MC_BR_InitModPos function. For any position movements, you will need to make sure you use the setting for the MC_Move blocks of mcPOSITIVE_DIR, telling it to only move in positive direction.
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Thank you for the answer! However, how can I set the axis as periodic in the mapping table via the additional information?
I can’t find any information about configuring Additional Data column in mapping table. I used it to link a software axis to its hardware interface variable.
I would be very grateful if someone could post the link for the manual.
I believe you can use the comma to separate multiple arguments, so it would look like
PLCopen_ModPos=”3600,1”, SDC_AX_HwPv=“gSDCAx1”
If this isn’t working (as I don’t have hardware to test this on at the moment), I would recommend using the MC_BR_InitModPos.
I generally recommend defining things in software, i.e. MC_BR_InitModPos, MC_BR_LoadAxisPar, MC_BR_InitParList, etc. As these things can be changed and modified with simple transfer. Changing anything in the mapping table, init table, acopos parameter table, etc will cause a reboot, which may be an issue in the field.
Hi @Sergey_Kashchuk , have you found solution for your issue? can you share it with us?