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Torque Control Library

Created by: LowClue at: 2/5/2021 9:53 AM (5 Replies)

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2/5/2021 9:53 AM	Rate (0)
LowClue Advanced Member Joined: 6/30/2017 Last visit: 10/22/2024 Posts: 7 Rating: (0)	Hi, I have problems to implement the computed torque control library , I have following the manual but when I enable the IdentifyTorqueControl the CPU go to stop and I dont know why. I attached my code implemented in Pre-Servo, because I think that is there the problem. In the library has the get_dynamics function for two times, but the second time before de calc torques are in comments because if I put it the cpu go to stop too. Attachment Preservo.txt (334 Downloads)
	Last edited by: LowClue at: 02/05/2021 09:55:49 Last edited by: LowClue at: 02/05/2021 09:56:01 Last edited by: LowClue at: 02/05/2021 09:56:56 Last edited by: LowClue at: 02/05/2021 09:57:42
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2/5/2021 9:54 AM	Rate (0)
LowClue Advanced Member Joined: 6/30/2017 Last visit: 10/22/2024 Posts: 7 Rating: (0)	In the buffer error. Attachment 1.JPG (350 Downloads)

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2/5/2021 10:03 AM	Rate (0)
RB91 Gold Member Joined: 4/28/2015 Last visit: 10/22/2024 Posts: 1278 Rating: (301)	Hi, error MC421 looks to me as if the drive itself is in an autarkic state so the TO is not able to operate it. In most cases this could be an active Safety function such as STO on the drive.
	Best regards, Robert
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2/5/2021 10:07 AM	Rate (0)
jacek d Platinum Member Joined: 9/23/2005 Last visit: 12/12/2024 Posts: 4821 Rating: (736)	Pls attach screenshots in English as Google Translator doesn't work with pictures.
	Regards, Jacek What is confusing you is the fact that you never see a number but always its digit representation. So you end up thinking that the number is the representation. - Andrej Bauer Any claims against me - based on whatever legal reason - resulting from the use of any code and/or ideas presented on this forum shall be excluded. #StayWithUkraine
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2/5/2021 10:37 AM	Rate (0)
LowClue Advanced Member Joined: 6/30/2017 Last visit: 10/22/2024 Posts: 7 Rating: (0)	RB91 Hi, error MC421 looks to me as if the drive itself is in an autarkic state so the TO is not able to operate it. In most cases this could be an active Safety function such as STO on the drive. I know but I the function only calculate the torque to add with the additive function, right ? I am not enable the additive function, I have the problem before.

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2/5/2021 10:39 AM	Rate (0)
LowClue Advanced Member Joined: 6/30/2017 Last visit: 10/22/2024 Posts: 7 Rating: (0)	jacek d Pls attach screenshots in English as Google Translator doesn't work with pictures. Ah Its true sorry, I will send the english alarm. Sorry.

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