Command: Add SoftMotion CiA402 Axis
Function: The command adds a general SoftMotion CiA402 axis below a fieldbus slave in the device tree.
Call: menu; context menu of a device object in the device tree
Requirement: In the device tree, a device is selected which supports this drive. Examples: EtherCAT slave or CAN slave.
CODESYS provides several dedicated drivers that support a servo drive model in particular. If a servo device drive is added to the device tree, then it automatically has a child device that represents the SoftMotion axis. A standard driver is used for communicating with the device. Therefore, you can use this command to support any servo drive that complies with the CODESYS implementation of CiA402. The way in which the drive works or not with the device depends on the implementation in the device itself. Experience has shown that different manufacturers have interpreted the standard differently, especially regarding error handling and limit switches. Therefore, there is no guarantee how the driver works or not with the device.
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 |
---|---|---|---|
| Read | M | The lower value has to be 402. Otherwise cancel. |
| Read | O | |
| Read | O | |
| Read | O | |
| Read | O | |
| Read | O | |
| Read | O | |
| Write | If parameter | |
| Write | If parameter | |
| 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,
0x60B8:00
0x60B9:00
, 0x60BA:00
, 0x60BB:00
, 0x60BC:00
, 0x60BD:00
, 0x60F4:00
.
Advanced configuration
Important
You need to select the Show generic device configuration editors 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 |
---|---|
|
Note: If this option is set to |
| Only relevant when
|
| Only relevant when Bit mask of the states for which immediate disabling is turned on.
Example: Assuming |
| Number of cycles which the state machine waits in state |
| Number of cycles which the state machine stays in |
| Number of cycles at the beginning of |
| 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 |
|
Note that in any case, the state machine stays in |
|
|
|
|
| This |
|
|
|
|
|
|
|
|
| In state |
| Whether bit 4 of the status word (voltage enabled) needs to be |
| Whether bit 2 of the status word (operation enabled) needs to be |