Automation Community - ctrlX MOTION

Scara elbow orientation control?

StephenO — Wed, 03 Jun 2026 19:36:14 GMT

In many robot controls, the elbow orientation of the Scara can be pre-defined for the motion command. In the Motion App, it seems like the only option is for the Scara to take the shortest path. When the joints are zeroed, that puts the robot in a singularity and it can pick either right hand or left hand solution, and the only way to force it to one side is to pre-move the joint into the angle you want. Is there a way to specify in the configuration or in the move command to define the desired elbow orientation in advance?

CoE VRS3 --> VRS4 Reference issue

4acre — Wed, 03 Jun 2026 18:15:22 GMT

I am setting up a demo with Innovance SVV660 drives use CoE. This is a Scara system. In version 3.6 ctrlX OS this was fine, the system enabled the drives and grouped and enabled the kinematic. In VRS4.6 the system requires that all axes be homed. That seems reasonable, however, with the innovance (and other CoE drives) bit 15 of the status word that indicates reference was achieved is cleared when a fault occurs and after power up. This means the system can no longer recognize that these axes have been referenced. In VRS3 this reference bit was not required. Now, I am required to reference after every fault even though the drive has not lost its position.

I understand this may be considered a problem with the drive but, is there an option to turn off the requirement on the ctrlX that the axes be referenced in order to enable the kinematic? Or, is there a way to control the homed state of the axes from the PLC on the controller?

plug and play commissioning?

Manu-80 — Tue, 02 Jun 2026 09:41:56 GMT

If I buy a Rexroth motor, a Rexroth (ctrlX) DRIVE, a ctrlX CORE and connect everything physically together, will the components then "recognize" each other automatically (plug and play), so that the motor/DRIVE are automatically shown in the MOTION app of the ctrlX CORE via its webinterface?

I suspect in some cases some parameters of the hardware have to be configured so that the speed/positioning control of the motor works properly: Can this then be done directly via the MOTION app via the webinterface of the ctrlX CORE? Or are additional programs necessary to install outside of the ctrlX CORE?

If yes, I as a enduser and programmer of the machine would love to see that everything regarding the software and hardware configuration could be done directly with the apps in the ctrlX CORE webinterface, so that no additional PC and separate software is needed to install which would make the comissioning much easier. (at least if you just want to make a motor spin)

MOTION app usable just for motor speed?

Manu-80 — Thu, 28 May 2026 12:38:17 GMT

Hi there!

I am wondering if it is possible to use the MOTION app to control a motor via its DRIVE through the MOTION app by just controlling the motor speed and not the position? So no kinematic is needed for my task. I just want to control something like a conveyor belt.

So instead of move to position x, y I want to set the rpm speed of the motor.

Is this possible with the MOTION app and therefore programmable in the IDE app?

Confirming Active Sync Mode Offsets with arAxisStatus_gb or Datalayer Read

TR1 — Wed, 27 May 2026 14:03:53 GMT

Hello

A customer was planning to use "arAxisStatus_gb[].Data.SyncMode.ActualOffset" to confirm active offsets but this and "arAxisStatus_gb[].Data.SyncMode.OffsetToTarget" are always reading zero.

Should these be working and if so where on datalayer are they linked to?

The only method I am aware of is to read the array list from "motion/axs/{axis name}/cmd-input/double/data/in". Is this the best (only) way to confirm current values?

I also tried checking the pipeline at "motion/axs/{axis name}/cfg/functions/coupling/sync-motion/calculation-pipeline/gear_in_pos/steps" but the values did not always appear to update on a change.

The synchronisation itself is working as expected.

CtrlX PLC Engineering 3.6.3 (CXA_MOTION_IF_USER 3.6.0.10) / PLC App 3.6.3 / Motion App 3.6.4

Many Thanks

3D orientation with Cartesian system

4acre — Thu, 21 May 2026 19:26:03 GMT

The motion manual shows 1D and 2D orientation options with the cartesian robot but is there a possibility of 3D orientation?

read and write Teach points

JHU1XI1 — Mon, 18 May 2026 06:33:25 GMT

Hello,

How to write parameters for P001

Can you configure Drive Mode Lagless Off/On using Motion App

TR1 — Fri, 08 May 2026 09:02:58 GMT

Hello,

A customer is asking if it is possible to change the Drive Primary Operating Mode from Position Control Lagless (S-0-0032=11) to Position Control only (S-0-0032=3) . Even if they change S-0-0032 startup in IO project from 11 to 3 it still changes to 11 and so I assume this is set by motion App.

Is there any way of configuring Lagless on/off using the Motion App?

(CtrlX 3.6.3 / IndraDrive MPB20)

Many Thanks

How to setup a user-defined reaction to a drive fault F2/F3 etc.

bschmidt — Tue, 05 May 2026 14:58:02 GMT

With IndraDrive and ctrlX DRIVE we have the option to delay the drive's own error reaction. How is this feature supported with ctrlX CORE?

Axis actual value filter seems to have no effect

bschmidt — Thu, 30 Apr 2026 14:45:01 GMT

Hello,

Testing Motion 4.6.0, there is a feature to filter the actual values of an axis. But the actual position and velocity looks the same whether I have the filter enabled or disabled.

Here is a 180 degree move in 0.5 seconds with filter disabled. The actual position slightly lags the ipo position as I would expect, but as the same shape.

Filter disabled

Then I go into Configuration Mode and activate filter LOW_PASS_ORDER_1 with very low cutoff frequency of 1 Hz. But the results look exactly the same.

Low pass order 1, 1 Hz cutoff

Best regards,

Brian