Configuration of the Generic CiA402 Axis

CODESYS SoftMotion provides drivers for various drives. If no specific driver is available for the CiA402 drive which you are using, then you can use the generic CiA402 axis.

However, the compatibility and behavior of the generic axis depend largely on the CiA402 implementation in the respective drive. In practice, it has been shown that different manufacturers interpret the CiA402 standard differently – particularly with regard to error handling and support for limit switches.

Therefore, it cannot be guaranteed that the generic CiA402 axis will always function correctly or completely with a particular drive.

Note

The generic CiA402 driver supports up to 8 axes in case the device description of the drive does not specify a number. Otherwise, the number of axes defined in the device description is supported.

CANopen: The number of possible axes depends on the profiles of the logical devices in the EDS file (1000H object and 67FFH + X * 800H, where X = number of logical devices). For more details, see the CANopen CiA301 standard.

EtherCAT: The number of possible axes depends on the defined CiA402 channels (CoE DS402Channels) in the ESI file.

An adaptation of the EDS or ESI file needs to be done by the device manufacturer.

Objects used when commissioning

When commissioning, the following objects are accessed if they are supported by the device.

Object	Read/Write Access	(M)andatory (O)ptional	Comment
`0x1000:0`	Read	M	The lower value has to be 402. Otherwise cancel.
`0x1018:1`	Read	O
`0x1018:2`	Read	O
`0x1018:3`	Read	O
`0x1018:4`	Read	O
`0x6502:0`	Read	O
`0x605A:0`	Read	O
`0x60C2:1`	Write	If parameter `Set60C2 = TRUE`
`0x60C2:2`	Write	If parameter `Set60C2 = TRUE`
`0x6076:0`	Read	O

Objects used during operation

The following objects are used during operation depending on the functions used:

0x603F:00, 0x6040:00, 0x6041:00, 0x6060:00, 0x6061:00, 0x6062:00, 0x6064:00, 0x606B:00, 0x606C:00, 0x6074:00, 0x6077:00, 0x6078:00, 0x607C:00, 0x60B1:00, 0x60B2:00,0x60B8:000x60B9:00, 0x60BA:00, 0x60BB:00, 0x60BC:00, 0x60BD:00, 0x60F4:00.

Advanced configuration

Important

You need to select the Show generic device configuration views option in the Options: Device editor dialog so that the tab with the parameters is displayed.

You can use the following parameters to fine-tune the flow of the CiA402 state machine.

CiA402 Parameter	Description
`_readVelocityFactor_6096`	`TRUE`: The velocity factor (object `6096`) is read and used to convert the velocity units. `FALSE`: The velocity factor is not read. The velocity unit is assumed to be increments per second.
`_bImmediateDisabling`	`TRUE`: When `bRegulator` is reset to `FALSE`, switches the status of the drive from `Operation enabled` directly to `Switch on disabled`. `FALSE`: Switches the status via "Switched on" and "Ready to switch on", giving the drive the chance to execute a quickstop and handle the brake properly. Note: If this option is set to `FALSE`, then the states for which immediate disabling is switched off can be fine-tuned with the bit mask `_dwStatesImmediateDisabling`.
`_bForbidReenableDuringDisabling`	Only relevant when `_bImmediateDisabling = FALSE`. `TRUE`: The drive is disabled step-by-step until the drive signals to be in `Ready to switch on` before a new enable command is processed.
`dwStatesImmediateDisabling`	Only relevant when `_bImmediateDisabling = FALSE`. Bit mask of the states for which immediate disabling is turned on. Bit 0: Normal Operation Bit 1: Quickstop Bit 2: External Quickstop Bit 3: Homing Example: Assuming `_bImmediateDisabling = FALSE`, the value `2#0110` means that the immediate disabling is turned off only for the states "Normal Operation" and "Homing". For states “Quickstop" and "External Quickstop", immediate disabling is turned on.
`_uiPreHomingWait`	Number of cycles which the state machine waits in state `PRE_HOMING` before starting the homing process by setting bit `4` of the control word.
`_uiPostHomingWait`	Number of cycles which the state machine stays in `HOMING_DONE` before switching back to "Normal Operation".
`_uiHomingMinCycles`	Number of cycles at the beginning of `HOMING`, where the done bits (bit 10/12 of the status word) are ignored.
`_uiWaitCyclesForStateSwitch`	Number of cycles which the system waits until the drive has executed a state change command. If the drive fails, then the system will switch back to `SWITCH_ON_DISABLED`.
`_bPreHomingWaitBit12Clear`	`TRUE`: Wait in `PRE_HOMING` until bit 12 of the status word has been cleared by the drive before starting homing (before setting bit 4 of the control word). Note that in any case, the state machine stays in `PRE_HOMING` for at least `_uiPreHomingCycles`.
`_bCheckBit10PostHoming`	`TRUE`: Switch to `HOMING_DONE` if bit 12 and bit 10 of the status word are both `TRUE` (as specified in CiA-402). `FALSE`: Ignore bit 10; only use bit 12.
`_bCheckOpMode`	`TRUE`: Check if `0x6061` shows the value set in `0x6060` when enabling the axis. `FALSE`: Omit this check and enable immediately after setting the operation mode.
`_abyControllerMode`	This `ARRAY[0..7] OF BYTE` contains the operation modes (object `0x6060`) which correspond with `AXIS_REF_SM3.byOperationMode`. (index `0,3` = position; index `1` = velocity; index `2` = torque)
`_bCheckBit12InPositionMode`	`TRUE`: `AxisIsReadyForMotion` checks bit 12 in CSP or IP. `FALSE`: `AxisIsReadyForMotion` does not check bit 12.
`_bDoHaltWhenStopInterruptsHome`	`TRUE`: When `MC_Stop` interrupts, abort homing with bit 8 of the control word. `FALSE`: Do not set bit 8, but directly switch the operation mode.
`_bCheckBit13InHomingMode`	`TRUE`: In `HOMING_ACTIVE`, `wStatusWord.13 = TRUE` leads to errorstop and (depending on `_bDoHaltWhenStopInterruptsHome`) `wControlWord.8 := TRUE`.
`_bSetControlBit4InCSP`	`TRUE`: Set bit 4 of status word also in CSP mode. Some drives require this, although it is non-standard.
`_uiHomingWaitListeningBits101213`	In state `HOMING_ACTIVE`, do not listen to bits 10, 12, and 13 during this number of cycles from setting bit 4. (Some drives take some time to reset these bits).
`_bRegulatorOnRequiresVoltageEnabled`	Whether bit 4 of the status word (voltage enabled) needs to be `TRUE` so that `bRegulatorRealState = TRUE` (default value: `FALSE`).
`_bDriveStartRequiresOperationEnabled`	Whether bit 2 of the status word (operation enabled) needs to be `TRUE` so that `bDriveStartRealState = TRUE` (default value: `TRUE`).
`_modeOfOperation_Torque`	The `ModeOfOperation` to be used for controller mode `torque`. Must behave like the cyclic sync torque mode.
`_modeOfOperation_Velocity`	The `ModeOfOperation` to be used for controller mode `velocity`. Must behave like the cyclic sync velocity mode.
`_modeOfOperation_Position`	The `ModeOfOperation` to be used for controller mode `position`. Must behave like the cyclic sync position mode.
`_bStayInSwitchOnDisabled`	`FALSE`: An automatic transition from `SWITCH_ON_DISABLED` to `READY_TO_SWITCH_ON` is performed, if either `MC_Power.bDriveStart` is `TRUE` or the quick stop option code (`object 0x605A:00`) is > 4. TRUE: The transition from `SWITCH_ON_DISABLED` to `READY_TO_SWITCH_ON` is only done if `MC_Power.bRegulatorOn` is `TRUE`.

Touch Probe

The MC_TouchProbe function block requires a TRIGGER_REF as an input. TRIGGER_REF.iTriggerNumber has the following meaning for the generic CiA402 axis:

TRIGGER_REF.iTriggerNumber	Meaning
0	Touch probe 1, positive edge
1	Touch probe 1, negative edge
2	Touch probe 2, positive edge
3	Touch probe 2, negative edge

Error diagnosis: The drive cannot be switched on via `MC_Power`

The generic axis expects the following bits in the status word in order to return MC_Power.Status = TRUE:

Bit 0 (ready to switch on)
Bit 1 (switched on)
Bit 2 (operation enabled)
Bit 5 (quick stop)
Bit 12
However, Bit 12 is not set by every drive. If the drive does not set the bit, then the _bCheckBit12InPositionMode parameter of the generic axis can be set to FALSE.