Multidevice management for CoE drives has been added since RTE 34.18.9.
The generation of axis alarms related to emergencies are influenced by the index of the sub-device. Currently, the emcy-generating subdevice index is detected using bits 4, 5, 6, 7 of the third byte Manufacturer Specific.
Model Type |
Description |
|
|---|---|---|
1 |
Use manifacturer specific [2] |
|
BIT |
Meaning |
|
0-:-3 |
Do not care |
|
4 |
Must be 0 if device in alarm |
|
5-:-7 |
Device index |
|
Asynchronous OBJ read/write commands will directly use the channel information. The configuration from project window--> configuration--> axis, will be:
•Transducer Type: EtherCAT (COE)
•Drive Type: generic: channel 1, channel 2, channel 3
•Actuator Type: EtherCAT (SOE)
•Drive type: generic: generic: channel 1, channel 2, channel 3
In this way assuming:
•axis 1 associated with first device of the multidevice drive
•axis 2 associated with second device of the multidevice drive
•axis 3 associated with third device of the multidevice drive
We have that by accessing the object:
•0x6040:0 of axis 1 accesses object 0x6040:0 of drive
•0x6040:0 of axis 2 accesses the 0x6840:0 object of the drive
•0x6040:0 of axis 3 accesses the 0x7040:0 object of the drive
•0x6840:0 of axis 1 accesses the 0x6840:0 object of the drive which corresponds to the 0x6040:0 object of the second drive device
NOTE: The COE_EMCY_AK variable is used to specify how to extract the subdevice number from the emergency message.
