[Switch motor configuration]

Hi,

 

I need to make the same channel on my controller control two types of motors, according to the user's choice.

For this, I created two virtual motors and a plc that makes the selection between the setups according to a Boolean flag, but it is not working.

 

Follow the plc:

 

if (homeInit == 0)

{

if (Gate3[0].Chan[0].Status & $100)

{

Motor[12].ServoCtrl = 0

Motor[12].pDac = Sys.pushm

Motor[11].ServoCtrl = 1

Motor[11].pDac = PowerBrick[0].Chan[0].Pwm[0].a

setup = 1

}

 

else

{

Motor[11].ServoCtrl = 0

Motor[11].pDac = Sys.pushm

Motor[12].ServoCtrl = 1

Motor[12].pDac = PowerBrick[0].Chan[0].Pwm[0].a

setup = 2

}

 

homeValue = Gate3[0].Chan[0].Status & $100

homeInit = 1

}

[Open Loop gantry following mode]

Thank you!

 

It worked!

[Open Loop gantry following mode]

Hi,

 

I'm trying to implement a "gantry following mode" control with the M1 as leader and M2 as follower, but both of them are in open loop (without encoders). I've parametrized the motors like that:

 

Motor[1].ServoCtrl = 1

 

Motor[2].ServoCtrl = 8

Motor[2].CmdMotor = 1

 

And i've got the "Gantry Follower" indication at M2 Status window, but when I command a movement like #1j^1000, just the M1 executes the movement.

 

Is there any other missing parameter for the motors?