sutty Posted April 20, 2020 Share Posted April 20, 2020 Hi! Running Beckhoff-dirve EL7211-0010 in CSV-Mode, I need to tune the drives PI-gains before closing position loop on PPMAC. After activating ECAT I tried writing to the drives velocity P-gain with follwoing command: p1=ecattypedsdo(0,0,1,$8010,15,0,4) where 0..master 0 0..slave 0 1..read $8010..index for dirve amplifier settings 15.. subindex for velocity proportional gain 0..read/write-value 4..# bytes p1=nan Any idea? For now I use the init-table to set those values - but it's quite laborious, since this approach needs many steps (deactivating ECAT, set value inside init-table, loading mapping to PPMAC, issue ecatreset, activating ECAT, agitate motor) Quote Link to comment Share on other sites More sharing options...
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