Beckhoff EL7342 and OpconControlPlus

thiseful

Member
Join Date
Oct 2017
Location
Germany
Posts
19
Hello

I have a DC motor for a conveyor that I controll usind EL7342 beckhoff drive and AtmoSingleAxisDrive object from OES.

The thing is I can start the motor but I can not stop it without having a drive error.
for starting I am using this code:

Code:
Fu2ImportLiftBand.Unit.ParCfg.iDrive.Reset();        
      Fu2ImportLiftBand.Unit.Enable:=TRUE;
      Fu2ImportLiftBand.Unit.ParCmd.Speed:=3000;
       Fu2ImportLiftBand.Unit.Command:=SingleAxisCmd.SETVELO;
       Fu2ImportLiftBand.Unit.Execute:=TRUE;
       _retVal:=OK;

The only way to stop it that I found is:
Code:
 IF(rParImm.LiftBeltStopSensor)
     THEN
       Fu2ImportLiftBand.Unit.ParCfg.iDrive.PowerOff();
       _retVal:=OK;
     ELSE
      _retVal:=OK;
   END_IF

But this triggers the following error:
'TCNC' (500): 'ImportBand' (Axis-ID: 1, Grp-ID: 1):
The axis or a coupled slave axis has lost its controller enable signal while executing a command => error 0x4260 (StateDWord: 0x2181501, CoupleState: 0, ActPos: 0.000000, ActVelo: 0.000000)


What code sequence I have to use to stop the motors without triggering the error above?
 
Have you tried setting the speed to zero and executing the command?

Fu2ImportLiftBand.Unit.Enable:=TRUE;
Fu2ImportLiftBand.Unit.ParCmd.Speed:=0;
Fu2ImportLiftBand.Unit.Command:=SingleAxisCmd.SETVELO;
Fu2ImportLiftBand.Unit.Execute:=TRUE;

Regards,
 
Have you tried setting the speed to zero and executing the command?

Fu2ImportLiftBand.Unit.Enable:=TRUE;
Fu2ImportLiftBand.Unit.ParCmd.Speed:=0;
Fu2ImportLiftBand.Unit.Command:=SingleAxisCmd.SETVELO;
Fu2ImportLiftBand.Unit.Execute:=TRUE;

Regards,

Hello
I tried that, It didn't work.
Also I tried :
Fu2ImportLiftBand.Unit.Enable:=False;//to disable axis movement
OR
Fu2ImportLiftBand.Unit.Execute:=False;// to disable the execution of the current command
 
In TwinCAT there is a special stopping command to be issued, there might be something similar for your system? https://infosys.beckhoff.com/content/1033/tcplclibmc2/458423435.html?id=5360494017789404752

Hello

There is something like
Fu2ImportLiftBand.Unit.AxisState.StandStill:=TRUE;

with AxisState I should be able to control the Axis outputs but when I do this the following error appears:

'AxisState' is no input of 'SingleAxisUnit'

Which is peculiar because when I go to the definition of AxisState it shows that AxisState is an input of SingleAxisUnit.

Maybe there is an issue with the Opcon+ object SingleAxisDrive. I am waiting a response from ATMO support.
 

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