Hello,

I'm self training on TwinCAT.

I was trying to command a brushless dc motor (kollmorgen AKM11E) with an EPOS2 (Maxon) using the CanOpen module EL6751.

My PC is a Beckhoff CX5230.

I got an error that I don't explain. I followed the document called EPOS2-Application-Notes to send a target position in a mode called Profile Position Mode.

The steps are the following :

• Set the Profile Position Mode (set to 1 in my case) ; Address : 0x6060-00
• Shutdown the Controller with the controlword to 6 ; Address : 0x6040-00
• Switch ON and enable the controller by setting the controlword to DEC: 15 / HEX: 0x000F
• Set a Target Position in qc
• Start Positioning by setting controlword to 0x001F / 31

Variables Used:

• Modes of Operation ; Address : 0x6060-00
• controlword ; Address : 0x6040-00
• Target Position ; Address : 0x607A-00

In TwinCAT, when I set the target position, it will automatically disable my controller.

When i re-enable it, I can send it back wit the same value and it will work. But when I want to change the value, it disables again the controller.

If I do the sames steps but within Epos Studio which is the software to configure the Motor provided by Maxon. In that set-up the EPOS2 is connected in USB with my computer. That way, it works without re-enabling each time, I want to change my command.

Do you know what I did wrong ?

Best regards,

Alexis