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CPX-CEC-...
1.5.8
Configuring SoftMotion for CPX-CEC-M1
Note
Licence errors can occur during compilation if there are multiple CoDeSys instances open at the
same time.
•
Close all CoDeSys programs and open only one CoDeSys instance.
The CoDeSys software package SoftMotion is available as an extension for the CPX-CEC-M1 controller. It
allows coordinated multi-axis movements with a CPX terminal. Specific CPX-CEC-M1 controller features
are produced in accordance with the CPX system properties.
1. Motor controllers supported
Motor controller
From version
CMMP−AS
3.5.1501.2.1
CMMS−AS
1.3.0.1.11
CMMS−ST
1.3.0.1.7
SFC−LAC
1.05
SFC-LACI
1.0
CMMD
1.4
2. Number of axes
The number of axes in SoftMotion is basically unlimited. However, we recommend using no more than 8
axes on a CPX-CEC-M1.
3. Cycle time/interpolation time
Different interpolation times (cycle times) must be observed depending on the connected axis type (see
PLC Configuration screenshot). The interpolation time (time for the processing of the motion modules)
should basically correspond to the time base of the interpolator.
If using at least one motor controller of type CMMD, CMMS, SFC-LAC or SFC-LACI in an axis
group:
•
Set the interpolation time to 8 ms.
If only motor controllers of type CMMP-AS are used, differing settings (e.g. 4 ms) are also
possible.
4. SoftMotion functions
The function range essentially corresponds to SoftMotion documentation. Deviations are permitted where
hardware and software functions are not available (e.g. no encoder function in CPX).
SoftMotion functions that are not supported or have restricted support:
SoftMotion functions
MC_ReadActualTorque
MC_ReadBoolParameter
MC_ReadParameter
MC_WriteBoolParameter
MC_WriteParameter
SMC_SetTorque
SMC_SetControllerMode
32
Remarks
The following firmware versions are not supported:
Version 1.3.0.1.10
–
Version 1.3.0.1.12
–
Remarks
Not supported
No specific parameters defined
No specific parameters defined
No specific parameters defined
No specific parameters defined
Not supported
Only "Position" is supported
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