Setup JVL Stepper Motor following CiA-402

Version Number	Description
1.0	Initial version

1. Supported Components

Component Name	Version
iC92xx series	≥ 2024.3
iCube Engineer	≥ 2024.3
JVL-MIS173xx	≥ V3.54.10298

2. Scope

The integrated stepper motors of JVL support, among others, the EtherCAT protocol. See the respective manuals for details. The steps below will walk through setting up a MIS17xxx motor for Position Control using the CiA-402 drive profile.

3. Setup device

Adjust the following Parameters in the MIS using MacTalk.
Under the "MAC00-EC (EtherCAT)" tab:

Station alias
Enable DSP402 drive profile

Note: These settings should be default. So you should be able to setup the motor without the MacTalk software.

4. ESI file

Preparation

Download the ESI file from JVL.dk Ethernet configuration files and Examples / DEMO programs (jvl.dk)

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
Add PDO Data Objects (make sure to select the correct datatype)

For this example add at least the following objects:

Modes of operation (SINT)
Profile velocity (UDINT)
Profile acceleration (UDINT)

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 following 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 operation mode to "1" (profile position mode)
Set the "Target_position" variable in the watch window to a desired value (409600 steps is one revolution in this case)
Set the "Profile_velocity" and the "Profile_acceleration" (deceleration is the same value) to 60 (the unit of this objects is rpm)

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.

Both absolute and relative movements are possible. ControlWord Bit 6 controls the type of move (0 = absolute, 1 = relative).
Every time Bit 4 is triggered a new setpoint is sent to the motor, when Bit 5 is enabled the new setpoint will be set immediately, otherwise the new setpoint is executed after the previous one is reached.
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.