To manage SPIMD20 drives connected in EtherCAT in advanced mode, it is necessary to properly configure the transducer and actuator of the axis in question through the project configurator.

The SPIMD20 drive is mounted on motors with integrated RMD drives and nearby RID20 drives.

The advanced mode allows you to:

•Manage different types of homing (MVA_ZC). Typical example is quota photo on micro or micro homing with subsequent search of motor position within turn or at mechanical limit switch with torque reduction

•Use from application capture instruction POS_CAPTURE_CMD

•Extended diagnostic in report (verbose) of the emergency messages (if enabled) and dedicated alarming 729 -:- 799

The operations to be performed are:

Select from project configurator--> axes--> tab transducer:

•Transducer type: EtherCAT CoE (configuration of an absolute transducer)

•Micro index of 0: If specified it indicates the digital input channel where the homing micro is physically wired. If default, the channel specified in "Auxiliary parameter 1" is used.

•Drive type: select Robox IMD20

•Auxiliary Parameter 1: Represents the digital input channel where the homing micro is physically wired (obviously the field "micro index of 0" must be predefined). 1 indicates the first digital input channel, 2 indicates the second digital input channel

Select from project configurator--> axes--> tab actuator:

•Actuator type: EtherCAT Coe

•Drive Type: Select Robox IMD20

Associate a remote device, of type "drive can402" to the newly configured axis. This operation allows you to:

•Associate the drive (device), selected from the list of hardware resources connected to the network (links to resources), to the Robox station ID of the desired axis

•Associate real quota information to CP, status information to status word, command information to control word, and ancillary information for quota photos

By associating the EtherCAT terminal (drive) with a remote CAN402-type device, it is possible:

•Synchronous communication via PDO, in accordance with the XML file

•Asynchronous communication by SDO from program with the appropriate functions or from shell with the appropriate commands (see COE)

•Management of the DS402 state machine by RTE in accordance with the POWER SET configuration

•Automatic diagnostic by RTE about operational status and emergency messages with axis and dedicated alarms handling

Uploading firmware from RDE3

From RDE 3.11.1, it is possible to update the firmware of the SPIMD20 drive via the IMD CONFIGURATOR tool (new object--> tools--> IMD configurator).

The operation is possible either in PC--> IMD20 serial connection or by using the uRmc2 or 3 as a "bridge."

In this case after selecting the WS on which to perform the operation select update device firmware from the tools menu of the main toolbar.