Hardware

• ctrlX OS device, like ctrlX CORE with EtherCAT Master

• Bonfiglioli AxiaVert drive

Software

• EtherCAT ESI Files for Bonfiglioli AxiaVert

• ctrlX I/O Engineering

• ctrlX OS V2.6.4 (or higher)

Get and install ESI Files

• Download ESI Files for AxiaVert from the Bonfiglioli website.

• After downloading the file. install ESI Files in ctrlX I/O Engineering software.

• Open menu Tools -> Device Repository.

• Click Install

• Select BD_Axia.xml file and then press Open.

• Device Repository window can be closed.

Online configuration

• If the AxiaVert is connected to ctrlX OS, online configuration can be used.

• Online configuration automatically scans the topology of the system. Devices are automatically detected and set in the hardware configuration.

• Right-click on ethercatmaster -> Scan for Devices.

• Import found devices into the project and click OK.

• ethercatmaster is now populated with founded devices

• Plug device

• Default PDO configuration is Velocity mode, the user can change default mapping changing the plug device.

• To do that right click on the Axis -> Plug Device

• Select the desired PDO map and then click “Plug Device”.

• The hardware configuration is automatically updated.

• Change PDO map

• The user can manually change the PDO map. To do that double click on the AxiaVert Single Axis and enable the Expert settings.

• In the Expert Process Data tab select the desired PDO List (e.g. 16#1600 – CSP Outputs) and then click Insert

• Select the desired object (e.g. 16#6060:16#00 – Mode of Operation) and click OK.

• PDO content list is now updated.

• Download the project to the controller

ctrlX OS configuration

• Axis Profiles

• Log in in ctrlX-OS and add Axis Profiles.

• Select the fieldbus device to associate to the axis profile

• Edit the axis profile to set the correct scaling.

• In the Scaling section select Manual configuration

• Set the parameters:

  • Type: Rotary

  • Resolution: 65536

  • Numerator: 1

  • Denominator: 1

• And click Save

• Associate the axis profile to the real axis by editing it

• In General section:

  • Select the correct profile in the Connection to physical drive field

  • Set Type as Rotational Drive

  • Set Axis Positioning as Absolute

• And click Save.

• Run the system

• Set the system in Running. 

• If the configuration is correct, Motion switched to running message should appear.

• Test the system

• Once the system is up and running, AxiaVert can be tested via ctrlX-OS, without the need to write code.

• In the Commissiong section of the Axes, the drive can be powered on and put, for example, in jog mode.

The Company

Bonfiglioli is a worldwide designer, manufacturer and distributor of a complete range of gearmotors, drive systems, planetary gearboxes and inverters, which satisfy the most challenging and demanding needs in industrial automation, mobile machinery and renewable energy. The Group serves more industries and applications than any other drives manufacturer and is a market leader in many sectors; its three business areas - Industry & Automation Solutions, Mobility & Wind Industries, Selcom Group - embody all the expertise and experience acquired over the years in the respective industries. Established in 1956, Bonfiglioli operates worldwide in 80 countries with 23 commercial sites, 17 production sites, a wide distribution network comprising more than 550 partners, and can count on 5.000 professionals. Excellence, innovation, and sustainability are the drivers behind the growth of Bonfiglioli as a company and team and represent the guarantee of the products and services quality offered its clients.

However, in the MS2M I see another value or a different approach.

Why is this (17) stated in the manual Jrot = 0,000014(17) ? *

() = with holding brake

Here you find the MS2M03-A. Motor Inertia of 0,14 kg.cm2 and with brake 0,17 kg.cm2

But a little under you see the exact inertia of the brake. This is 0,018 kg.cm2

So I say the inertia will be 0,14 + 0,018 = 0,158 kg.cm2. (and not 0,170 kg.cm2)

Is there more inertia involved? Maybe a longer axis or a component I do not know. I like to know what the right inertia is. I'm prety sure this MSM and MS2M have the same inertia. But is it 0,158 of 0,170.

If it has 0,170 kg.cm2 then it has 7,5 % more inertia as I expected.

#Moved for another space by admin

I am using the torque signal S-0-0084 in the PLC for monitoring and visualisation with WebVisu.

The used signal should be filtered / smoothed. For that I use the ctrlX-Drive integrated filter-function

From outside, PLC, I can set the time constant and vary the signal (e.g. S-0-0040 as well).

But the result is:

Inside PLC / WebVisu the signal looks this:

while in Drive it looks this

Signal is filtered / smoothed with 50ms but in PLC it is unsmoothed.

The signal is transfered to PLC this way:

In ctrlX IO S-0-0084 is included in "processdata"

In PLC it is read from DataLayer and assigned to a tag

But something is wrong.

There are to different signals although it is the same parameter.

But, after shut off/on it is possible that it works and the singal is smoothed.

Can someone give a hint, please?

With an IndraDrive MLD I did the same over many years. Reading the variable filtered / smoothed S-0-0084. This always worked reliable!

Now it comes down to the parameter settings. I can't really set in the drive firmware that I'm only using the second Drive as an inverter. I assume that the drive will simply go into 'ready' (bb/Ab) mode once the DC bus has reached the desired voltage level.
I see no showstopper and will proceed with this. However, a checkbox in the drive would have been desirable. As far as I know, this was provided for in the IndraDrive.

Since we're on the forum, a question:
Can I connect the DC-bus of XCS to XCS, provided the power requirements are sufficient?

As before in Indradrive :

I tested it on Virtual control as well as real ctrlX device.
The device goes into "Exception - Error" mode if no source code is selected.

How to solve this error ?
Your support on this would be greatly appreciated.

Thank you.

A customer is asking if it is possible to change the Drive Primary Operating Mode from Position Control Lagless (S-0-0032=11) to Position Control only (S-0-0032=3) . Even if they change S-0-0032 startup in IO project from 11 to 3 it still changes to 11 and so I assume this is set by motion App.

Is there any way of configuring Lagless on/off using the Motion App?

(CtrlX 3.6.3 / IndraDrive MPB20)

Many Thanks