Hi everyone,
I’m new to the B&R world and to PLCs in general. I’ve only been working with these systems for a few months, and I’m trying to implement communication between a B&R C80 controller and third-party servo drives using the CANopen protocol (DS402 profile). My idea is to create and manage “virtual” axes using the basic B&R structures, but I’m having trouble properly configuring the communication and reading the status of the servo drives. (I followed the example found on the mappFrameworks github).
Does anyone have an example of how to implement a couple of axes in this context?
It would be very helpful to see a basic setup to better understand how to interface with the servo drives via CANopen and how to handle reading/writing data according to the DS402 profile.
If anyone has a better or quicker approach to manage this configuration, I’d also appreciate that, especially if accompanied by practical examples to understand it better.
Check out this page in the B&R Online Help (br-automation.com) if you haven’t already. Using MpAxisBasic and mappMotion might not be the best approach because those are designed to communicate with B&R drives over Powerlink.
The manufacturer has already placed the most important registers as cyclic registers in the EDS file by default. There should also be a description of how to handle with these in the manual.
All DS402 drives are similar, but there are some small differences in the control.
You can see what a DS402 state machine can look like in this library, which B&R provides as an alternative control for the ACOPOSinverters:
Good morning Christoph,
I have tried implementing this solution, but unfortunately, it didn’t prove to be very efficient or straightforward, especially in terms of intuitiveness and proper execution. What I’m looking for is an example to follow as a guide for handling the virtual axis, which could also allow for easy adaptation in the future. My intention is to eventually move to EtherCAT and, in parallel, to Powerlink, so I’d like to create a system where only the communication part needs to be changed.
I sincerely thank you for your valuable support.
A simple solution or example with this would be quite beneficial as we all love using the b&r motion libraries implementing them with 3rd party servo solutions can give us the edge in in certain markets.
With packages like CodeSys it is very easy to implement ds402 motion control.
I believe automation studio 6 will have ethercat implementation but can we have an example project for version4?with CAN or ethernet
