TO_positioning_axis preset encoder position problem

Hello,

first of all, the two positions have nothing to do with the selected encoder.

position ist the setpoint position of the axis --> Where the axis wants to move to in this motion cycle
actualPosition is the actual position measured with the encoder

You have to home one of the two encoders with the input homing of the LAxisCtrl block. You can do a switchover to the other encoder with the MC command MC_SetEncoder. It has different modes regarding getting your homed position from the motor encoder to the external encoder.

What you have to consider if you use DSC is that the motor encoder have to be the first encoder in your axis hardware interface encoder configuration.

You can see the positions of the both encoders in your axis data structure or db <Axis>.StatusSensor[x].Position (x is the number of sensor regarding configuration).

For more details you can have a look at the motion control manual especially chapter 3.2.5.5:
https://support.industry.siemens.com/cs/ww/en/view/109749262

If you have problems with the following error check if it continuosly increases. Then the configuration of your encoder (increments per revolution, ...) could be wrong.

Hello,

you can switch the position controlled mode on and off at the commands MC_Power (LAxisctrl enableAxis), MC_jog (as you have already done by switching it off) and MC_MoveVelocity (LaxisCtrl moveVelocity) before homing.

If you are at standstill and want to switch it at the current position you can do a moveVelocity with velocity 0 and positionControlled = true in the configuration structure of the LAxisCtrl FB.