EthercatDevice_CiA402 is a generic CiA 402 EtherCAT SubDevice class designed to control any EtherCAT servo drive that supports the CiA 402 standard.
It provides access functions for commonly used CiA 402 objects and operation functions for several CiA 402 operation modes and function groups, including:
- Operation Modes
- Profile Position (pp)
- Profile Velocity (pv)
- Profile Torque (tq)
- Homing (hm)
- Cyclic Synchronous Position (csp)
- Cyclic Synchronous Velocity (csv)
- Cyclic Synchronous Torque (CST)
- Function Groups
- Touch Probe
Implementation Directive for CiA402 Drive Profile.
Directive for using IEC 61800-7-201 within EtherCAT-based servo drives.
For more detailed information about CiA 402, please refer to the following documents:
- CiA Draft Standard 402: CANopen device profile drives and motion control
- ETG.6010 Implementation Directive for CiA402 Drive Profile
- User manual for the currently used CiA 402 drive device
File Type:
pdf
File Size:
3 MB
Categories:
User Manual
