Rotary Axes with a Value Range over 360° Introduction Robots often have rotary axes with a value range over 360°. For example, the last axis (orientation axis A3) of a SCARA robot can often travel mor
Synchronization of External Axes, Torque Feed Forward Control The axis values of the axes of an axis group are normally calculated at the end of the cycle after the application code programmed by the
Triggers Triggers can be used to perform actions such as switching on a tool when a defined position on the path is reached, or with a time shift before or after. For this purpose, CODESYS SoftMotion
Torque Limitation and Torque Feed Forward Control The torque limitation of CODESYS SoftMotion makes sure that specified limits of the torques or forces of the drives from being exceeded during coordin
Common Errors This page describes common axis group errors, their causes, and possible actions to take to correct the error. For a list of all possible errors with a brief description, see the help pa
Performance The planning of movements is done in a separate task because the computation is CPU-intensive. This separate task is referred to as the planning task and it runs in parallel with the bus t
Jogging a Robot See the Robotics_Jogging.project sample project in the installation directory of CODESYS under ..\CODESYS SoftMotion\Examples . This example demonstrates how to jog an axis group with
Interruption and Continuation of Movements The Robotics_Interrupt_Continue.project sample project described here is located in the installation directory of CODESYS under ..\CODESYS SoftMotion\Example
