MB30. [AX8000 Servo][10/10] Beckhoff MC Torque Control

#TwinCAT #Servo #Torque
This video shows the torque control method "MC_TorqueControl"
Before: Beckhoff Servo Torque Limitation Control • MB29. [AX8000 Servo][9...
Motion Playlist: • Motion Control
Beckhoff Playlist: • Beckhoff TwinCAT Controls
------------------------ Beckhoff AX8000 Servo Motion Control -----------------------
MB20. [AX8000 Servo] Beckhoff AX8000 Motion Control Tutorial Open Speech
• MB20. [AX8000 Servo][0...
MB21. [AX8000 Servo] Scan I/O & AX8000 Drive and Setup Drive Manager Project
• MB21. [AX8000 Servo][1...
MB22. [AX8000 Servo] Enable Drive STO Safe Torque Off via Beckhoff TwinSAFE Program
• MB22. [AX8000 Servo][2...
MB23. [AX8000 Servo] Configure Beckhoff Drive TwinCAT3 Drive Manager 2 Tutorial
• MB23. [AX8000 Servo][3...
MB24. [AX8000 Servo] How to Read Torque Value from Beckhoff AX8000 or AX5000 Drive
• MB24. [AX8000 Servo][4...
MB25. [AX8000 Servo] Beckhoff Drive Cogging Compensation
• MB25. [AX8000 Servo][5...
MB26. [AX8000 Servo] How To Read ErrorID and Status of Beckhoff TwinCAT NC Axis
• MB26. [AX8000 Servo][6...
MB27. [AX8000 Servo] Tune Servo Motor - Beckhoff AX8000 Servo Drive
• MB27. [AX8000 Servo][7...
MB28. [AX8000 Servo] Beckhoff Drive AX8000 SS1 Safe Stop
• MB28. [AX8000 Servo][8...
MB29. [AX8000 Servo] Beckhoff Servo Torque Limitation Control (+/- Direction)
• MB29. [AX8000 Servo][9...
MB30. [AX8000 Servo] Beckhoff MC Torque Control
• MB30. [AX8000 Servo][1...

[@Runtimevic]

Hello, thanks you...

[@electricalautomation]

You are welcome my friend, enjoy it!

[@aaqilkhan]

Great explanation! Is there a way to do a closed-loop torque control using external feedback from a load-cell or torque sensor with this function block?

[@electricalautomation]

You can use PID, the feedback is the load sensor, SP is the tension setting, the PID output is the roller speed.

[@jensbjerg6960]

Hi great video, at 7:23 you set the drive up with time compensation. Can you describe what effect it has in more detail? And do you know the effect on 3rd party drives?

[@electricalautomation]

This is a good question. The Time Compensation is used to compensate for the delay caused by the NC axis sample delay. If you are doing super high accurate positioning/synchronization control, especially using Touch Probe or Cam, this Mode is highly recommended.

[@jensbjerg6960]

@@electricalautomation thanks. I'm trying the function out with a linmot servo. The switch from velocity to torque is smooth. But the switch back to velocity seems to give a kick.
I tried search infosys for answeers but no help in this topic :)

[@electricalautomation]

@@jensbjerg6960When you are using torque control, you need to have speed limitations, then when you are going to switch from torque to velocity control, limit the speed into a very narrow range and matching to your target velocity, then switch.

[@jensbjerg6960]

@@electricalautomation that is a good point. I will try to shoot the axis with actual velocity when switching back from torque first before lowering the speed. Have you tested the effect on mc_buffered?

[@hoangtri9569]

Thank you for your video, I tried using this FB with Beckhoff AX5 and got a x4625 error problem (operation mode invalid) but I checked it all over again and again and still don't know why because the drive was running with primary mode (which I set to force and torque control). Please help me if you have faced any similar issues...

[@electricalautomation]

Your AX5 might not have the torque control feature. You could contact Beckhoff support to verify if your revision support or not. Alternatively, you can use speed control with torque reduction. Pls check my another video

[@RoRu87]

Thanks for the video. I have a few questions regarding the settings. Can you explain why you
1. changed to VelocityControl2 in the slot settings?
2. Add a virtual operation mode, and not change the main mode of operation? Is this such that you can switch between velocity and torque mode?
3. Add the modes of operation to the outputs? these are not strictly necessary for the operation I think?
4. Select torque might be reduced to 0?

[@electricalautomation]

Hi Roald, the method shown in the video about the torque control is hard to explain why. Because it doest have the clear manual explaining the procedure and why we need to do the procedure. But the procedure I showed 100% workable for using AX8000, you could just follow it.

[@RoRu87]

@@electricalautomation Thanks. I hoped you found some documentation on this. It is really frustrating working with this stuff without any proper documentation from Beckhoff.

[@davvi295]

I don't have the slot setting, do you know why?

[@electricalautomation]

I have no idea, properly ask Beckhoff.

[@KamalHasani-kh5vm]

Your drive is ax5000 or ax8000?