Preparing the Scope for Tuning

The NC axis runs at a 2ms update rate. The Soft Drive runs with a 250us update rate so in order to see what is going on, every value must be viewed, not every 8th value. These parameters need to be scoped from the Soft drive object and not from the NC Axis. The Actual Position, the Set point position, actual velocity and set velocity, the following error, and the set current. In order to tune the drive the following items will need to be scoped:

Preparing the Scope for Tuning 1:

 

Preparing the Scope for Tuning 2:


To scope the values add a TwinCAT measurement project to the Solution.
This is done by right clicking on the solution and:

  • Selecting Add → New Project.

It is often better to open a new instance of TwinCAT/Visual Studio and build a Measurement Project in a separate solution.

Preparing the Scope for Tuning 3:


Then select the Template TwinCAT Measurement and a Measurement Scope Project

Now a new Measurement Project will be included solution

Preparing the Scope for Tuning 4:

Preparing the Scope for Tuning 5:


To select the appropriate values use the Target Browser (TwinCAT must be in Run Mode). Soft Drive Variables are found under the Axis SoftDrive_Obj (CTcSoftDrive). If the sdScopeVariables are NOT present, check that the XTS Task is correctly configured on Port 350 or higher.

Preparing the Scope for Tuning 6: