Ethercat by mappmotion

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1

Hi, AS6 mappmotion V6.5 can support EtherCAT driver By the purevax?I See the new software mappmotion inside purevax can conncet DS402 CSP.

2

Hi Lin,
DS402 is a standard so as it is written in the help it seems a question for third-party vendor

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What do you think?
From AI:
Does EtherCAT driver support the standard DS402?

Answer:
Yes, EtherCAT drivers and devices widely support the DS402 (also known as CiA 402) standard for drive and motion control

.

Support for this standard is typically implemented through the CANopen over EtherCAT (CoE) protocol. This allows EtherCAT-compatible drives to use the same object dictionary structure and state machines originally defined for CANopen.

Key Features of DS402 in EtherCAT

  • Motion Modes: Supports standard modes such as Cyclic Synchronous Position (CSP), Velocity (CSV), and Torque (CST), as well as profile-based modes.

  • State Machine: Uses the standardized DS402 state machine (e.g., “Switch On Disabled,” “Operation Enable”) to manage drive status through a Controlword (Index 6040h) and Statusword (Index 6041h).

  • Interoperability: Because it is a standardized profile, different manufacturers’ drives (e.g., Elmo Motion Control, Kollmorgen, Delta) can often be controlled by the same EtherCAT master using common software libraries.

Notable Implementations

  • Beckhoff (TwinCAT): As the primary developer of EtherCAT, Beckhoff provides extensive support for DS402 through CoE.

  • Open Source Libraries: Tools like SOEM (Simple Open EtherCAT Master) are frequently used to implement DS402-compatible masters on Linux and other platforms.

  • Master Stacks: Commercial stacks from Acontis Technologies include demo applications specifically for DS402 CoE drives.

Note: While DS402 is the most common, some systems use SoE (Sercos over EtherCAT) as an alternative motion profile.

AS Help: DS402 CSP - Cyclic synchronous position

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Second question for AI:
Does B&R DS402 support the motion mode cyclic synchronous position?

Answer:
Yes, B&R Automation’s implementation of the DS402 profile supports the Cyclic Synchronous Position (CSP) mode

. This is the standard method for high-precision, real-time position control in coordinated multi-axis systems.

B&R DS402 Implementation Details

  • Mapp Axis Library: B&R’s mapp Axis software library is explicitly designed to be fully compatible with DS402-compliant drives, including those using the EtherCAT or POWERLINK interfaces.

  • Trajectory Generation: In CSP mode, the B&R controller (the master) generates the motion trajectory and sends target position setpoints to the drive (the slave) in regular, fixed communication cycles (e.g., every 2 ms).

  • Drive Function: The drive’s role is to follow the received setpoints using its internal current and velocity loops, with the position loop being handled by the master controller. This allows for highly synchronized motion across multiple axes.

  • Function Blocks: B&R provides PLCopen standard function blocks, which abstract the complex DS402 state machine and object handling, making it easier for users to implement CSP mode in their applications.

To implement CSP mode, you would typically use B&R’s software environment, Automation Studio, to configure the specific drive and use the appropriate mapp Axis or PLCopen function blocks.

Ciao
Valerio

3

Thanks, But I don’t know why the PureVax Status is Errorstop. X20CP1685 + X20IF10G1 Conncet Leadshine Ethercat Driver.

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4

Hi Lin,
I’m sure you have more details on mapp Cockpit, DriveLog and motion logger.
Attach SystemDump please
I’m positive there is small mistake in your configuration.
Ciao
Valerio

5

Downloads.zip (2.1 MB) Thanks,This is log

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Hi @Lin_Jian ,
I see different errors on Motion logger, I applied 2 filters:
“Since last restart“, and “Entered by=gAxis_1“ :

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There is an Important information note in the help:

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Have you called the global variable gEC_SlaveDrvIF[0] in your task? You know in AS if you just declare a variable
and you don’t call that, the system doesn’t allocate memory for that variable.

Not sure why the system complains about your axis feature, “Profile generator“, for what I understood in CSP mode, the B&R controller (the master) generates the motion trajectory
and sends target position setpoints to the drive (the slave) in regular, fixed communication cycles. It’s possible when you set your “General purpose axis interface“ to “DS402 CSP“, internally the system already activates an “internal ProfGen“ with limited functionality, different than standard ProfGen related to the one on the AxisFeaure… @michael.bertsch …help…hehe
As first step I recommend removing that (when I don’t know something in our system normally, I use the scientific method “try and see“, in the final step when
I see a settings works; I’ll build a theory).

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To be honest I don’t know why the axis state changes from AxisInvalidConfiguration to AxisErrorstop…in my opinion it should stay on AxisInvalidConfiguration,for sure there is a reason, but it creates confusion because as you said it’s not clear the cause of Errorstop.
Drive Log or Network Command Trace doesn’t help at all:

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Double check your settings.

Question for you: When there is no error and you can power on/off, read the status of your gAxis_1 how can you move the axis? I mean which
Function blocks are you going to use?

On Internet I found one example made by SEW Eurodrive for DS402 CSP, where basically you call only MoveCyclicPosition FUB for the DS402 CSP axis, but in your prj you need to configure another axis, “Master” where you command all motion movement commands (for example MoveAbsolute/Relative) .
Ciao
Valerio

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@valerio.manenti @Lin_Jian

  • if the Feature_1 is the ProfGen feature, then it should be removed from this axis configuration. The GPAI DS402 CSP already internally uses ProfGen.
  • The errors with the invalid variables are as Valerio wrote most likely due to only declared, but not used variables. Such variables are not allocated by AR and therefore not reachable by mappMotion.

Additionally there is an error 33307 from drive in the logger and this should be checked as this is what in my opinion causes transition to ErrorStop . Maybe the drive is misconfigured or something like that.

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Thanks so much Mariusz for your Help!

@Lin_Jian regarding the error 33307 we have more details in the help: Invalid axis type for this command

Now Lin Jian, it’s your turn we are waiting your feedback…hehe

Ciao
Valerio

9

@valerio.manenti The error 33307 from Help is different, it is a coincidence that we have such an error number in motion area. But this error you linked is an error from legacy MpAxis and is not releated to this situation.

The error we see in logger is an error from the 3rd party drive mapped through the io mapping to PureVax DS402 CPS. The meaning should be defined in 3rd party device documentation.

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Mapping of the device error into PureVax axis:

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10

Thanks Mariusz for clarification!
I’ll put more attention next time on the link.
Lin you are working with mapp Motion and not with ACP10 so my previous note for 33307 is wrong, sorry about that.

I asked AI: “Error code 33307 on beckhoff drive“

below the answer:
Based on the available documentation, Error Code 33307 (0x821B) on a Beckhoff drive, particularly when using AMD Servo Drives (often in combination with TwinCAT), typically indicates an issue related to External Pulse Count - Relative Mode.

Here are the details and troubleshooting steps based on the context:

  • Error Description: 33307 often relates to a failure in reading or processing an external pulse count, or an issue with configuration in relative mode.

  • Possible Causes:

    • Faulty or misconfigured encoder/feedback hardware.

    • EtherCAT communication issues leading to invalid encoder data.

    • Incorrect drive parameterization regarding external signal inputs.

  • Troubleshooting Steps:

    1. Check Hardware Connections: Ensure encoder cables and fieldbus (EtherCAT) connections are secure and not damaged.

    2. Verify Encoder Setup: Verify that the encoder and power options on the drive are correctly set up in the configuration software.

    3. Drive Reset: Attempt to clear the fault using the drive management software or by issuing a CLRFAULT command.

    4. Check Axis State: Ensure the axis is not in an unexpected state, such as after a failed reset or if the axis is not enabled.

      It’s possible once you have fixed the issues in AS prj, you’ll also fix the error 33307.
      Ciao
      Valerio

11

Very Thanks,MappMotion DS402CSP By PureVAx is OK. The cause of the problem has been found. Based on the idea you gave, I reorganized my configuration. Then I found that my CMD variable was indeed not loaded into the program. So there shouldn’t be any in the memory.I really appreciate your help

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Spettacolo @Lin_Jian !
Just for curiosity, How have you fixed the error 33307 on Beckhoff drive?

Thanks
Ciao
Valerio