Introduction
In this tutorial, I will use the Delta ASDA A2 series servo as an example to introduce how to connect a third-party motor and drive to a ctrlX CORE via CoE (CANopen over EtherCAT) and control it using the ctrlX OS - Motion App.
Requirements
Hardware:
ctrlX CORE X3
Servo motor: Delta ECMA-C20807RS
Motor drive: Delta ASDA A2
Software:
ctrlX I/O Engineering
ctrlX OS 3.6
ctrlX OS - EtherCAT Master App 3.6.0
ctrlX OS - Motion App 3.6.0
Preparation
You need some basic knowledge of
o ctrlX OS
Click the link to jump to the relevant tutorial.
Please install the ctrlX OS - Motion app and ctrlX OS - EtherCAT Master app on your ctrlX CORE. Then install ctrlX I/O Engineering and ASDA SOFT on your computer (host).
Connect all hardware first. Please ensure that all power cables are connected correctly.
Operation
Open the ASDA SOFT software and operate in the Settings window: Select Device -> ASDA-A2, A2-E -> Start Auto Detect -> OK
Select device and start Auto Detect It will automatically open the parameter edit window and scan all parameters in the driver. After the scan is complete, click to enter the P1-XX page. Then double-click the Value item in the P1-01 row. The help window for that parameter will pop up.
Find the parameter P1-01 Select [0x0C] CANopen Mode (Full) as the Control Mode Setting. Then click Write to Servo to save the change. Please note that changes to this parameter will only take effect after restarting the driver. So, we need to turn off the power to the driver and then turn it back on. To ensure that the changes have been successfully modified, after restart the device return to this page to check that the mode setting is correct.
Set the control mode to CANopen Open ctrlX OS device dashboard in your browser and add EtherCAT Master instance.
Add a new EtherCAT Master Click into EtherCat master instance "ethercatmaster" and start ctrlX I/O Engineering. Then create a new project and add new device description. Click here to download the xml file for ASDA-A2. Tools -> Device Repository -> Install -> open xml file -> close.
Create a new project and add new device description Add new device under node ethercatmaster. Right click on ethercatmaster -> Add Device -> select Delta ASDA-A2-E EtherCAT(CoE) -> Add Device.
Add new device Settings in ASDA_A2_E_CoE_Drive. Process Data -> select 1st Mapping. Then download the project on ctrlX CORE and switch engineering to online.
Setting CoE Parameters Open ctrlX OS device dashboard -> Motion -> Add axes -> Add from EtherCAT -> click “+” button -> Type “Rotational” -> Add (motion operation mode must be "Configuration").
Add a new axis In "Axis Settings" you can also change the "Axis Positioning" to "Modulo".
Setting axis parameters Motion -> Axis Profiles -> Actions pen -> Scaling -> Manual configuration -> Type Rotary -> Resolution 1280000 (This refers to the actual resolution of the motor encoder).
Setting scaling parameters Switch motion operation mode from configuration to running. Then you can turn on the Axis and control it in jogging and positioning mode.
Manual control of axis In velocity mode, the actual velocity cannot be set correctly because the default velocity units of the driver and Motion app are inconsistent. (actual velocity : target velocity = 21333 : 1)
