David Jan

According to what you said, it is not possible to complete the modification of the speed. I used the cmd command in the PLC program, and my idea was to use a variable "offset" to change the speed of the motor at any time, which is cmd "% offset". However, currently, neither of the two methods you mentioned is effective. Some cannot be compiled, while others do not change the speed of the PLC program after compilation. Do you think this is why?

Another problem is that I want to implement the function in the PLC, cmd "% Percentage", where percentage is a global variable that I defined earlier. But since % already has its own usage in cmd's commands, for example "- %d Signed integer, decimal format - %u Unsigned integer, decimal format - %x Unsigned integer, hexadecimal format, use lower case". So how do I use % for speed changes

Okay, Steve. Following the method you mentioned above, I have performed the relevant experiments, when the speed changes from %100 to %200, the process is slower, is there any relevant parameter to modify the time of this change? For example acceleration?

Does that mean there is no way to change the value of Ethercat? What I understand is that the values of parameters like ECAT[0].IO[1].Data are at our disposal. But according to you I can't modify the existing Ethercat, I can only use % to modify the speed. I will try to modify the speed using % and give you feedback!

I understand that the command position and command speed in PMAC are calculated by internal servo algorithms. So, how can I modify the actual speed value without changing the command position, so that the motor speed has an actual bias? Can PMAC achieve this? Do you have any relevant parameters? Option 1: Enable Motor [1] DacBais=20 seems to be unable to implement my idea. Option 2: Can I directly add or subtract from the output address corresponding to Motor [1]. pDac? For example, Motor [1]. pDac=sys Udata [1]. a, I can directly set sys Udata [1]=sys Udata [1]+200, but the speed remains unchanged. Why is this?

Steve，I understand that the command position and command speed in PMAC are calculated by internal servo algorithms. So, how can I modify the actual speed value without changing the command position, so that the motor speed has an actual bias? Can PMAC achieve this? Do you have any relevant parameters? Option 1: Enable Motor [1] DacBais=20 seems to be unable to implement my idea. Option 2: Can I directly add or subtract from the output address corresponding to Motor [1]. pDac? For example, Motor [1]. pDac=sys Udata [1]. a, I can directly set sys Udata [1]=sys Udata [1]+200, but the speed remains unchanged. Why is this?

Thank you, Steve. I'll download the new version and try again

Actually, I don't particularly understand why changing the speed setting value directly in the Ethercat address doesn't work, I'll keep an eye on your question.

I am following the steps in the IDE manual to configure the motors, both motors run fine in CSP mode and in CSV mode at the same time, but when one is in CSP mode and the other is in CSV mode, the motors have problems. My PMAC is a CK3E, the drive is a CDHD2, and the power PMAC IDE is version 4.5.2.9! The configuration file is below: Sys.WpKey = $AAAAAAAA Motor[1].pAmpEnable = Motor[1].AmpEnableBit = 0 Motor[1].pLimits = 0 Motor[1].pDac = EncTable[1].pEnc = EncTable[1].pEnc1 = Sys.pushm EncTable[1].ScaleFactor = 1 EncTable[1].Type = 1 Motor[1].pEnc = EncTable[1].a Motor[1].pEnc2 = EncTable[1].a Motor[1].pAmpFault = Motor[1].AmpFaultBit = 3 Motor[1].AmpFaultLevel = 3 Motor[1].MaxDac = 28000 Motor[1].DacShift = 0 Motor[1].ctrl = Sys.PosCtrl Motor[1].FatalFeLimit =0 Motor[1].MaxSpeed= 200 Motor[1].JogSpeed=100 EncTable[2].type=1 EncTable[2].index1=0 EncTable[2].index2=0 EncTable[2].index3=0 EncTable[2].index4=0 EncTable[2].index5=0 EncTable[2].index6=0 EncTable[2].MaxDelta=0 EncTable[2].ScaleFactor=1 EncTable[2].pEnc = EncTable[2].pEnc1 = Sys.pushm Motor[2].pAmpEnable = Motor[2].AmpEnableBit = 0 Motor[2].pLimits = 0 Motor[2].pDac = Motor[2].pEnc = EncTable[1].a Motor[2].pEnc2 = EncTable[1].a Motor[2].pAmpFault = Motor[2].AmpFaultBit = 3 Motor[2].AmpFaultLevel = 3 Motor[2].MaxDac = 1000 Motor[2].DacShift = 0 Motor[2].ctrl = Sys.servoctrl Motor[2].ServoCtrl = 1 Motor[2].FatalFeLimit =0 Motor[2].MaxSpeed= 200 Motor[2].JogSpeed=100 Sys.WpKey = $0

I want to use PMAC and Ethercat to control two identical motors, one in CSP mode and the other in CSV mode，After configuring the configuration file, there are issues with both motor jogs. The CSP motor jog does not move, while the CSV motor jog accelerates directly to the maximum speed, which is very dangerous.