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 Velocity control (CSV):

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

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

    ECAT Example:

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

    ECAT Example:

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  4. Configure the Position Transformation.

  5. Configure the Velocity Transformation.

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

  7. Now your application is configured for CSV.