Requirements of the Drive
A drive has to fulfill the following requirements for use with CODESYS SoftMotionLight:
EtherCAT or CAN support
CiA 402 support, especially in the following operating modes:
Profile position mode(forMC_MoveAbsolute_SML/MC_MoveRelative_SML)Profile velocity mode(forMC_MoveVelocity_SML)Homing mode(forMC_Home_SML.
If the drive does not support one of these modes, then you cannot use the respective function blocks.
Support of the objects defined by CiA 402 and listed in the following table:
Object | Description | SML Parameter | Comments |
|---|---|---|---|
16#6040 | Control word | 10064 | |
16#6041 | Status word | 20065 | |
16#605A | Quick stop option code | Optional If not supported, then it is assumed that the drive remains in CiA 402 state | |
16#605D | Halt option code | Optional If not supported, then the drive shall respond to a halt, as in the Mode 2 ("slow down on quick stop mode"). If not, then | |
16#6060 | Modes of operation | 2000 | |
16#6061 | Modes of operation display. | 2001 | |
16#6064/16#6063 | Actual position | 1101 | Required when you use (Note: Alternatively, you can transfer object |
16#607A | Target position | 2030 | Required when you use |
16#607C | Home offset | 1211 | Required when you use |
16#6081 | Velocity profile | 2050 | Required when you use |
16#6083 | Acceleration profile | 2060 | |
16#6084 | Deceleration profile | 2070 | |
16#6085 | Deceleration quick stop | 2090 | Optional If not supported, then you have to configure the quick stop deceleration specifically to the drive. |
16#6086 | Type motion profile | 1062 | Optional The used profile types are 0 (linear ramp) and 1 (sin² ramp). |
16#60FF | Target velocity | 2040 | Required when you have to use |
Tip
You can map all of these objects as PDOs. However, this is recommended only for the control word, status word, and the current position (if necessary).