Setup Faulhaber Motion Controller following CiA-402
| Version Number | Description |
|---|---|
| 1.0 | Initial version |
1. Supported Components
| Component Name | Version |
|---|---|
| iC92xx series | ≥ 2024.3 |
| iCube Engineer | ≥ 2024.3 |
| MC5004 P ET | ≥ 0121.02O |
2. Scope
The Faulhaber Motion Controllers support, among others, the EtherCAT protocol. See the respective manuals for details. The steps below will walk through setting up a MC5004 control unit with a linear motor for Position Control using the CiA-402 drive profile.
3. Setup device
Connect the Motion Controller to a PC/Laptop with a USB cable. Adjust the following Parameters in the MC5004 using Faulhabers commissioning software "Motion Manager 7". This software is available on the Faulhaber homepage. How to configure the Motion Controller and set the parameter is described in the Faulhaber documentation.
Under "Commissioning" -> "Communication":
- Explicit Device-ID
4. ESI file
Preparation
- The device description file for integrating in PLC controls (ESI) is located under "Public documents" of the Users directory in the "\Faulhaber\Motion Manager 7\Device description" folder
- C:\Users\Public\Documents\Faulhaber\Motion Manager 7\Device description\ESI
5. iCube Engineer
- Start a new project
- Add the motor to the project
- Import the ESI file for the motor downloaded in the previous step.
- Go to iCube Engineer File --> Import --> Import ESI File(s)...
-
Load the correct ESI file from the computer.
- Select the motor model that should be added to the project.
-
Banner will appear when file is imported
- In the Plant add the motor to the EtherCAT network
- EtherCAT bus scan can be used to find the motor
- Go to the PDO Tab of the motor
- Make sure that at least the following index and objects are selected and correctly mapped:
- Status Word (UINT)
- Position Actual Value (user scaling) (DINT)
- Control Word (UINT)
- Target Position (DINT)
- More objects could be added for better monitoring options:
- Operation mode display (SINT)
- Velocity actual value (DINT)
- Torque actual value (INT)
- Error code (UINT)
- ...
-
PDO Items are available for the motor by double-clicking on the node in the Plant and going to the Data List tab
- Create variables for the Process Data Items in the PLC data list.
- Run Motion
- Rebuild and Download the project to the Controller.
- In Debug Mode add the PLC variables created from the PDO data to the watch Window.
- The following tables from the Yaskawa Multi-protocol manual shows the CANopen DSP-402 transition bits for the Control Word and Status Word, which are also valid for this motor.
- Set the "Target_position" variable in the watch window to a desired value
- Optional: Right click on the Control Word and Status Word in the watch window and set the display to binary
- Perform the following sequence on the Control Word to "Enable" the motor
- Set ControlWord.X1 and ControlWord.X2 = 1 (Shutdown)
- StatusWord.X0 and StatusWord.X5 should turn on and StatusWord.X6 should turn off (Ready To Switch on)
- Set ControlWord.X0 = 1 (Switch On)
-
StatusWord.X1 should turn on (Switch on)
- Set ControlWord.X3 = 1 (Enable Operation)
- StatusWord.X2 should turn on (Operation Enabled)
- When enabled, the movement can be started by toggling ControlWord.X4. This command sets a new setpoint and a absolute move will be triggered.
- The following table shows the supported features in the Control Word:
- To stop the motor disable the operation by setting ControlWord.X3 to 0.
- The Feedback Position, Velocity and Torque can be read by the respective PDOs.