Use position setpoint for Cyclic Synchronous Velocity control

How to setup your configuration

  less than a minute  

Per default the Motorcortex Store Examples: Machine and Robot are configured for Cyclic synchronous position control.

Reconfigure the default example to Cyclic Synchronous Torque control (CST):

  1. Configure the driveOpMode to CST, Checkout: How to Change the driveOpMode?

  2. For CST, linking of ./motorPositionTarget and ./motorPositionActual is required. Checkout: ECAT-Tool.

    ECAT Example:

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  3. For CST, linking of ./motorVelocityTarget and ./motorVelocityActual is required. Checkout: ECAT-Tool.

    ECAT Example:

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  4. For CST, linking of ./motorVelocityTarget and ./motorVelocityActual is required. Checkout: ECAT-Tool.

    ECAT Example:

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  5. Configure the Position Transformation.

  6. Configure the Velocity Transformation.

  7. Configure the Torque Transformation.

  8. Configure and tune the Position Controller until you are satisfied with the controlError. Checkout: How to configure/tune Position Controller?

  9. Now your application is configured for CST.