STOBER Table of contents
09/2019 | ID 443077.01
iii
4.2.6 Configuring EoE communication........................................................................................................... 32
4.2.7 Identifying a MC6 motion controller .................................................................................................... 32
4.2.8 Transmitting a project configuration .................................................................................................... 33
4.2.9 Checking the functionality of the axes.................................................................................................. 33
4.2.10 Special case: Adding to the PDO transmission...................................................................................... 34
4.3 TwinCAT 3: Putting the EtherCAT system into operation ......................................................................................35
4.3.1 Creating and exporting an ESI file......................................................................................................... 35
4.3.2 Activating the EtherCAT master............................................................................................................ 36
4.3.3 Scanning the hardware environment ................................................................................................... 37
4.3.4 Configuring synchronization using distributed clocks........................................................................... 38
4.3.5 Controller-based axis control................................................................................................................ 38
4.3.6 Drive-based axis control ....................................................................................................................... 40
4.3.7 Configuring EoE communication........................................................................................................... 41
4.3.8 Transmitting a project configuration .................................................................................................... 41
4.3.9 Checking the functionality of the axes.................................................................................................. 42
5 Looking for more information on the CiA 402 application? ...................................................................................... 43
5.1 CiA 402 – Concept.................................................................................................................................................. 43
5.1.1 Activation.............................................................................................................................................. 44
5.1.2 Operating modes .................................................................................................................................. 44
5.1.3 Source for digital signals ....................................................................................................................... 44
5.1.4 User-defined status word ..................................................................................................................... 44
5.1.5 Additional functions.............................................................................................................................. 44
5.1.6 Control panels....................................................................................................................................... 45
5.1.7 Motion core .......................................................................................................................................... 45
5.2 Mechanical drive model......................................................................................................................................... 45
5.2.1 Rotational drives................................................................................................................................... 45
5.2.2 Translational drives............................................................................................................................... 46
5.3 Limit switches ........................................................................................................................................................ 48
5.3.1 Real axes ............................................................................................................................................... 48
5.3.2 Special cases ......................................................................................................................................... 52
5.4 Referencing............................................................................................................................................................ 53
5.4.1 Referencing methods............................................................................................................................ 53
5.4.2 Reference position................................................................................................................................ 77
5.4.3 Reference restore ................................................................................................................................. 77
5.5 CiA 402 device control ........................................................................................................................................... 78
5.5.1 CiA 402 device state machine............................................................................................................... 78
5.5.2 Commands, states and transitions ....................................................................................................... 79
5.6 The operating modes in detail ...............................................................................................................................83
5.6.1 Interpolated position mode (ip)............................................................................................................ 83
5.6.2 Cyclic synchronous position mode (csp)............................................................................................... 84
5.6.3 Cyclic synchronous velocity mode (csv)................................................................................................ 85
5.6.4 Cyclic synchronous torque mode (cst).................................................................................................. 86
5.6.5 Profile position mode (pp).................................................................................................................... 87
5.6.6 Profile velocity mode (pv)..................................................................................................................... 89