Allows a line of devices to be controlled using the EtherCAT SoE (Servodrive over EtherCAT) protocol.
Multidrive management for SoE drives has been added since RTE 34.18.1.
Alarms coming from the multidrive will be issued only for the axis associated with the channel.
Asynchronous IDN read/write commands will directly use the channel information. The configuration from project window--> configuration--> axis, will be:
•Transducer Type: EtherCAT (SoE).
•Drive Type: generic (first channel--old definition), channel 1, channel 2, ..., channel 8
•Type of Actuator: EtherCAT (SoE)
•Drive type: generic (first channel - old definition), channel 1, channel 2,..., channel 8
In addition, the following device commands (shell usable) have been implemented:
Directive to read objects on fieldbus SoE |
|
Directive to write objects to fieldbus SoE |
and the following functions (usable from program):
CO_CONTROLWORD_OM |
Function to write some bits of the control word |
SOE_RIDN |
Function to read objects on fieldbus SoE |
SOE_WIDN |
Function to write objects on fieldbus SoE |
