Hello,
For the following configuration: ctrlX Drive with EtherCAT CoE (Cia402 profile)
I have performed some test with ctrlX Core and Beckhoff using Motion/NC and it works fine, but is it possible to communicate with the drive without the Motion? I mean, reading/writting directly the parameters (control word, target position...) as IOs?.
I did not use ctrlX DRIVE but EFC to control in velocity mode via PLC. Should be quite similar and perhaps you can get some info:
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///// Control /////
ControlWord.0 := Con_SwitchOn;
ControlWord.1 := Con_VoltageOff;
ControlWord.2 := Con_QuickStop;
ControlWord.3 := Con_Enable;
ControlWord.7 := Con_ResetError;
ControlWord; //11 = dec to stop, 15 = run, 128 = reset fault
Vel_command := TO_UINT(FreqSetSigned); //64036 = -50Hz; 1500 = 50Hz
///// Status /////
StatusWord; //563 = ready to run, 567 = run forward
Stat_VoltageOn := StatusWord.4;
Stat_ReadyToRun := StatusWord.0;
Stat_SwitchOn := StatusWord.1;
Stat_Enabled := StatusWord.2;
Stat_QuickStop := StatusWord.5;
Stat_Off := StatusWord.6;
Stat_Warning := StatusWord.7;
Stat_Error := StatusWord.3;
Stat_TargetReached := StatusWord.10;
Vel_Feedback;
(*
///// Control commands /////
Command | Bit7 | Bit3 | Bit2 | Bit1 | Bit0 | Transitions
| ResetFaul | EnableOp | QuickStop | Voltageoff| Switch on |
________________|___________|___________|___________|___________|___________|_________________
| | | | | |
Schutdown | X | X | 1 | 1 | 0 | 2, 6, 8
________________|___________|___________|___________|___________|___________|_________________
| | | | | |
Switch On | X | X | 1 | 1 | 1 | 3
________________|___________|___________|___________|___________|___________|_________________
| | | | | |
Disable Voltage | X | X | X | 0 | X | 7, 9, 10, 12
________________|___________|___________|___________|___________|___________|_________________
| | | | | |
Quick Stop | X | X | 0 | 1 | X | 7, 10, 11
________________|___________|___________|___________|___________|___________|_________________
| | | | | |
Fault Reset | 1 | X | X | X | X | 15
________________|___________|___________|___________|___________|___________|_________________
| | | | | |
Disable Op | X | 1 | 1 | 1 | 1 | 5
________________|___________|___________|___________|___________|___________|_________________
| | | | | |
Enable Op | 1 | X | X | X | X | 4, 16
________________|___________|___________|___________|___________|___________|_________________
*)Â