Command 'Add SoftMotion CiA402 axis'
Function: This command adds a general SoftMotion CiA402 axis below a fieldbus slave.
Call: Menu bar: Project ; context menu of the device.
Requirement: A device is selected in the device tree which supports this drive.
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 multi-axis devices up to eight axes.
See also
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 must 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 |
The following objects are used during operation depending on the functions used.
|
0x603F:00 |
|
0x6060:00 |
|
0x6061:00 |
|
0x6062:00 |
|
0x6064:00 |
|
0x606B:00 |
|
0x606C:00 |
|
0x6078:00 |
|
0x6074:00 |
|
0x6077:00 |
|
0x607C:00 |
|
0x60BA:00 |
|
0x60BB:00 |
|
0x60BC:00 |
|
0x60BD:00 |
|
0x60B9:00 |
|
0x60B8:00 |
|
0x6040:00 |
|
0x6041:00 |
|
0x60B1:00 |
|
0x60B2:00 |
|
0x60F4:00 |
You can use the following parameters to fine-tune den flow of the CiA402 state chart.
|
CiA402 Parameter |
Description |
|
_bImmediateDisabling |
TRUE: Switches the status of the drive system from Operation enabled directly to Switch on disabled (according to CiA402). |
|
_uiPreHomingWait |
Number of cycles that are queued in the PRE_HOMING state before bit 4 is set. |
|
_uiPostHomingWait |
Number of cycles that are queued in the HOMING_DONE state after the HOMING state. Requirement: bRegulatorOn = TRUE. |
|
_uiHomingMinCycles |
Number of cycles at the beginning of HOMING if the "completed" bits are ignored. |
|
_uiWaitCyclesForStateSwitch |
Number of cycles that are queued when an error is detected until being reset. |
|
_bPreHomingWaitBit12Clear |
TRUE: Wait until bit 12 is FALSE. Then bit 4 is set the homing procedure is started. |
|
_bCheckBit10PostHoming |
TRUE: If bit 12 and bit 10 are TRUE, then the HOMING_DONE state is activated. FALSE: Bit 10 is ignored. |
|
_bCheckOpMode |
TRUE: Do not read back. Check that the mode has been accepted by the drive. |
|
_bForbidReenableDuringDisabling |
Relevant if _bImmediateDisabling = TRUE. TRUE: The drive is deactivated until the drive signal is in Ready to switch. Only then is a reactivated command executed. |
|
_bCheckBit12InPositionMode |
Some devices do not set the bit 12 of the status word correctly. With this parameter, the evaluation can be ignored. TRUE: Bit 12 is evaluated. FALSE: Bit 12 is ignored. |
|
_bDoHaltWhenStopInterruptsHome |
TRUE: a MC_Stop or MC_Halt is commanded when the drive is in homing mode, then Bit 8 is set in the control word in order to signal to the drive that it should execute a halt. FALSE: Bit 8 is not set; homing mode is exited directly and stopped. |
|
_bCheckBit13InHomingMode |
TRUE: In HOMING_ACTIVE, wStatusWord.13 = TRUE leads to an error stop and wControlWord.8 := TRUE (depending on _bDoHaltWhenStopInterruptsHome) |
|
_bSetControlBit4InCSP |
TRUE: Sets bit 4 of the status word also to CSP mode. Some drives require this although it is not standard. |
See also
