I have a running system, where the red cube moves from left to right and reverse, according to my Codesys program (connected via OPC UA setpoints).
The red cube is connected to the base via a joint and link.
When using high speed, acceleration, deceleration and jerk in my Codesys program, there is always a small position delay of the cube, when comparing the real application against the simumatik emulation.
Are there any parameters, settings which i can try out, in order to run the emulation in “realtime”?
OPC UA is not the fastest communication protocol, so sometimes there is some latency in the model compared to the real application.
I have a couple of tips for you:
Check the component settings under joint → motor → limits → velocity. Try increasing this value, as it can sometimes limit the motor’s velocity.
Another adjustment you can make is to add the rpi variable in the communication driver. This value affects the speed at which variables are read and written, in milliseconds. For more information please visit the following link to the user manual.
