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ctrlXdrive #1147

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aa1d33e
Create draft PR for #1146
TomKovac May 18, 2026
9555156
config
TomKovac May 18, 2026
846de61
ctrXdrive scaling linear rdy2tst
TomKovac May 19, 2026
e12e461
ctrlx linear act torque scaling fixed
May 19, 2026
34dad83
Refine torque and velocity scaling calculations in AxoCtrlxDriveXsc
TomKovac May 19, 2026
d8d65e5
Add logic to retrigger scaling parameter reading when leaving operati…
TomKovac May 19, 2026
a49c5ce
Update torque and velocity parameters to use degrees and adjust scali…
TomKovac May 19, 2026
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2 changes: 1 addition & 1 deletion src/components.rexroth.drives/components.rexroth.drives.sln
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Original file line number Diff line number Diff line change
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Microsoft Visual Studio Solution File, Format Version 12.00
Microsoft Visual Studio Solution File, Format Version 12.00
Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "this", "this.proj", "{C91BAA51-7B27-48BF-BE13-DED526D007B3}"
EndProject
Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "inxton_axopen_abstractions", "..\abstractions\src\AXOpen.Abstractions\inxton_axopen_abstractions.csproj", "{26B3BB63-88A9-4CDF-8F04-8E78F3284F6F}"
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Binary file added ...s/rexroth_ctrlx_drive/servodrive_communication_config/001_FSP_DRIVE_PROFILE.png
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Binary file added ...trl/assets/rexroth_ctrlx_drive/servodrive_communication_config/002_CONSUMER.png
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Binary file added ...trl/assets/rexroth_ctrlx_drive/servodrive_communication_config/003_PRODUCER.png
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Binary file added ...s/rexroth_ctrlx_drive/servodrive_communication_config/004_SignalControlWord.png
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Binary file added ...ts/rexroth_ctrlx_drive/servodrive_communication_config/005_SignalStatusWord.png
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Binary file added ...ssets/rexroth_ctrlx_drive/servodrive_communication_config/006_OperationMode.png
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626 changes: 450 additions & 176 deletions src/components.rexroth.drives/ctrl/src/AxoCtrlxDriveXsc/AxoCtrlxDriveXsc.st
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38 changes: 37 additions & 1 deletion ....rexroth.drives/src/AXOpen.Components.Rexroth.Drives/AxoCtrlxDriveXsc/AxoCtrlxDriveXsc.cs
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using AXOpen.Messaging.Static;
using AXOpen.Messaging.Static;
using AXSharp.Connector;
using System;
using System.Collections.Generic;
Expand Down Expand Up @@ -357,6 +357,42 @@ private void InitializeMessenger()


new KeyValuePair<ulong, AxoMessengerTextItem>(1800, new AxoMessengerTextItem("Scaling parameters not yet read out of the drive" ,"Check proper value of the device Hardware ID")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1801, new AxoMessengerTextItem("Error while Reading Position data scaling: Type (0x2900:01 / S-0-0076 / --)" ,"")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1802, new AxoMessengerTextItem("Error: Invalid axis type defined in Position data scaling: Type (0x2900:01 / S-0-0076 / --). The only permmited valueas are: 'Rotary' or 'Linear'","Bits 0-2: 001-linear, 010-rotary")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1803, new AxoMessengerTextItem("Error: Invalid unit system defined in Position data scaling: Type (0x2900:01 / S-0-0076 / --). The only permitted values are '0: Meter [m]' or '0: Angular degree'.","Bit 4: Unit for linear scaling: 0: Meter [m], 1: Inch [in], Unit for rotary Scaling: 0: Angular degree, 1: Reserved")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1804, new AxoMessengerTextItem("Error: Invalid time base defined in Position data scaling: Type (0x2900:01 / S-0-0076 / --). The only permitted value is 's'.","Bit 5:")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1805, new AxoMessengerTextItem("Error: Invalid Data reference defined in Position data scaling: Type (0x2900:01 / S-0-0076 / --). The only permitted value is 'at the load'.","Bit 6: Data reference: 0: at the motor shaft,1: at the load")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1806, new AxoMessengerTextItem("Error while Reading Velocity scaling type (0x2910:01 / S-0-0044 / --)" ,"")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1807, new AxoMessengerTextItem("Error: Invalid axis type defined in Velocity scaling type (0x2910:01 / S-0-0044 / --). The only permmited valueas are: 'Rotary' or 'Linear'","Bits 0-2: 001-linear, 010-rotary")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1808, new AxoMessengerTextItem("Error: Invalid unit system defined in Velocity scaling type (0x2910:01 / S-0-0044 / --). The only permitted values are '0: Millimeter [mm]' or '1: Degrees'.","Bit 4: Unit for linear scaling: 0: Millimeter [mm], 1: Inch [in], Unit for rotary Scaling: 0: Revolution, 1: Degrees")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1809, new AxoMessengerTextItem("Error: Invalid time base defined in Velocity scaling type (0x2910:01 / S-0-0044 / --). The only permitted value is 'Second [s]'.","Bit 5: Unit of time: 0: Minute [min], 1: Second [s]")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1810, new AxoMessengerTextItem("Error: Invalid Data reference defined in Velocity scaling type (0x2910:01 / S-0-0044 / --). The only permitted is 'load'.","Bit 6: Data reference: 0: at the motor shaft,1: at the load")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1811, new AxoMessengerTextItem("Error while Reading Acceleration scaling type (0x2920:01 / S-0-0160 / --)" ,"")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1812, new AxoMessengerTextItem("Error: Invalid axis type defined in Acceleration scaling type (0x2920:01 / S-0-0160 / --). The only permmited valueas are: 'Rotary' or 'Linear'","Bits 0-2: 001-linear, 010-rotary")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1813, new AxoMessengerTextItem("Error: Invalid unit system defined in Acceleration scaling type (0x2920:01 / S-0-0160 / --). The only permitted values are '0: Meter [m]' or Radiant [rad]'.","Bit 4: Unit for linear scaling: 0: Meter [m], 1: Inch [in], Unit for rotary Scaling: 0: Radiant [rad], 1: Reserved")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1814, new AxoMessengerTextItem("Error: Invalid time base defined in Acceleration scaling type (0x2920:01 / S-0-0160 / --). The only permitted value is 'Second [s²]'.","Bit 5: Unit of time: Second [s²], 1: Reserved")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1815, new AxoMessengerTextItem("Error: Invalid Data reference defined in Acceleration scaling type (0x2920:01 / S-0-0160 / --). The only permitted is 'load'.","Bit 6: Data reference: 0: at the motor shaft,1: at the load")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1816, new AxoMessengerTextItem("Error while Reading Torque/force scaling type (0x2930:01 / S-0-0086 / --)" ,"")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1817, new AxoMessengerTextItem("Error: Invalid axis type defined in Torque/force scaling type (0x2930:01 / S-0-0086 / --). The only permmited valueas are: 'translational scaling' or 'Rotary scaling'","Bits 0-2: 000: Percentage-based scaling (% of reference value), 001: translational scaling (force in N, lbf), 010: Rotary scaling (torque in Nm, inlbf)")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1818, new AxoMessengerTextItem("Error: Invalid unit system defined in Torque/force scaling type (0x2930:01 / S-0-0086 / --). The only permitted values are '0: newton [N]' or '0: newton meter [Nm]'.","Bit 4: Unit for force: 0: newton [N], 1: pound-force [lbf], Unit for torque: 0: newton meter [Nm], 1: inch pound-force [inlbf]")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1819, new AxoMessengerTextItem("Error: Invalid time base defined in Torque/force scaling type (0x2930:01 / S-0-0086 / --). The only permitted value is 's'." ,"")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1820, new AxoMessengerTextItem("Error: Invalid Data reference defined in Torque/force scaling type (0x2930:01 / S-0-0086 / --). The only permitted is 'load'.","Bit 6: Data reference: 0: at the motor shaft,1: at the load")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1821, new AxoMessengerTextItem("Error while Reading Position data scaling: Factor (0x2900:02 / S-0-0077 / --)" ,"")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1822, new AxoMessengerTextItem("Error while Reading Position data scaling: Exponent (0x2900:03 / S-0-0078 / --)" ,"")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1823, new AxoMessengerTextItem("Error while Reading Rotary position resolution (0x2900:04 / S-0-0079 / --)" ,"")),

new KeyValuePair<ulong, AxoMessengerTextItem>(1824, new AxoMessengerTextItem("Error while Reading Velocity data scaling: Factor (0x2902:02 / S-0-0045 / --)" ,"")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1825, new AxoMessengerTextItem("Error while Reading Velocity data scaling: Exponent (0x2902:03 / S-0-0046 / --)" ,"")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1826, new AxoMessengerTextItem("Error while Reading Acceleration data scaling: Factor (0x2904:02 / S-0-0161 / --)" ,"")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1827, new AxoMessengerTextItem("Error while Reading Acceleration data scaling: Exponent (0x2904:03 / S-0-0162 / --)" ,"")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1828, new AxoMessengerTextItem("Error while Reading Torque/force data scaling: Factor (0x2906:02 / S-0-0093 / --)" ,"")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1829, new AxoMessengerTextItem("Error while Reading Torque/force data scaling: Exponent (0x2906:03 / S-0-0094 / --)" ,"")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1830, new AxoMessengerTextItem("Error while Reading Inverter type data: Nominal current (0x2314:01 / S-0-0112 / --)" ,"")),
new KeyValuePair<ulong, AxoMessengerTextItem>(1831, new AxoMessengerTextItem("Error while Reading Motor torque model: Current constant (0x2018:01 / P-0-0450 / --)" ,"")),





// TemplateTask_10steps_1
new KeyValuePair<ulong, AxoMessengerTextItem>(10000, new AxoMessengerTextItem("TemplateTask_10steps_1 finished with error!","Check the details.")),
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2 changes: 1 addition & 1 deletion src/components.rexroth.drives/this.sln
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
Microsoft Visual Studio Solution File, Format Version 12.00
Microsoft Visual Studio Solution File, Format Version 12.00
Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "this", "this.proj", "{C91BAA51-7B27-48BF-BE13-DED526D007B3}"
EndProject
Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "inxton_axopen_abstractions", "..\abstractions\src\AXOpen.Abstractions\inxton_axopen_abstractions.csproj", "{26B3BB63-88A9-4CDF-8F04-8E78F3284F6F}"
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