ctrlX Drive as a CoE Slave drived with Softmotion

Hello all,

We have a customer who is driving a ctrlX Drive with EtherCAT CoE through an Innovance PLC using the CiA 402 protocol with Softmotion,

The problem is when he uses the MC_PowerON Block, in the CiA 402 protocol the bits 0,1,2 and 3 should remain to TRUE (following a sequence) if we want to go from Ab to AF, however in this case just the bits 0, 1 and 2 are TRUE so is not possible for the axis to go from Ab to AF,

I have tried to do the same thing with a ctrlX Core driving a XCS with CoE and Softmotion and the same happens, so when I activate the inputs of the fb nothing happens,

If I try to activate the Drive via the control word directly or via PLC Open it works so it seems that is a problem of Softmotion,

Does someone know how can I proceed?

Many thanks,

Good Afternoon, Regarding this issue, the problem seems to come from the status check of the parameter 0x6061 with respect to 0x6060.

The internal bit _bCheckOpMode manages this option and if it is disabled the system boots without problems. (SoftMotion MC_Power)

At the moment and to solve the problem, the following program lines are implemented. This allows you to use Sotfmotion's MC_Power.

Really, this whole system of "Fast commissioning" and implementation of ctrlX Core / ctrlX Drive is a real drama... failures here... failures there

Best Regards

Jordi Laboria

E-Mail: [email protected]

https://www.youtube.com/channel/UCzE-ieCIkyMsuvyE0UDji9g

DCET/SLF4-ES