Connect ctrlX CORE with ELMO Drive

[Gruffi]

In the following we show you how to use ctrlX CORE with ELMO Drive.

Versions used
All the functions and screen shots are based on:

• Engineering: ELMO Application Studio EAS II version 2.8.1.6 64Bit
• ELMO Platinum Drive Harmonica               02.00.03.00 B07         19Oct2021
• ELMO Platinum Drive Twitter                     02.00.03.00 B07         19Oct2021
• ctrlX CORE version 1.20
• ctrlX WORKS 1.20

Prerequisites

A connection to the ctrlX CORE has been successfully established (Browser), the device is correctly wired, and 24 V are successfully put on. As well as the Engineering tool ctrlX WORKS Engineering has been started, and the EAS II (ELMO Application Studio) has been installed and started.

1. What is the target of this description

Show configuration of EtherCAT CoE and Motion app with ctrlX WORKS to get a running system with ELMO drive.

2. What is required

1. actual device description file from ELMO drives (actual version ElmoPlatinum_10_V120027_S.xml)
2. installed EtherCAT Master App, Motion App and PLC App on the ctrlX CORE
   
   

3. Configuration of IO Engineering

1. Open "Device Repository"
   Open Device Repository
   
2. Install device description fileInstall device description file
   
   
3. Scan device and insert in project
   IO Engineering Scan devices
   
4. Download IO configuration to ctrlX COREDownload configuration to CoreIO Engineering Startup

Check the startup parameters, to use the Cyclic synchronous Position (CSP) operation mode (ELMO operation mode "Position = 5").

4. Configuration of ctrlX CORE, Axis Profile and Motion

• Add Axis profile, enter a name, select CANopen over Ethercat
  Add axis profile

• Map the variables from the drive to the axis profile
  Core axis profile variables mapping
  
  
  
  
  
  
  
  Core axis profile mapping details drive!! Important !! Open the profile over the Data Layer to make the Scaling configuration of this drive.

• You can check the resolution information with the ELMO Application Studio, see screenshot below. This drive doesn´t support the scaling objects (optional) that the ctrlX CORE motion normally needs. In this case you have to make the scalings inside the control.
  Check settingsData Layer settings 1Data Layer settings 2

• Add a Motion axis and connect the axis to the profile
  You can later change the format or the limits and so on, but these must match with the drive parameterization.

Add motion axis connect profile

• Switch the motion in running mode
  Switch the motion in running

5. Create and check settings of ELMO drive

1. Start the ELMO Application Studio and Connect the driveLoad ELMO application suite
2. Check the scaling and modulo parametrizationCheck scalingCheck modulo behaviourHint: If you want to command the axis by ELMO Application Studio you must switch the parameter "af", see screenshot.
   
   Switch parameter "af"

6. Run the Motor (via Motion App)

Step 1: Run motor via Motion App

Step 2: Run motor via Motion App
Hint: If this is working you can start with your PLC program. 

[Maxmai]

Thanks for the guide.

Where can I find the ElmoPlatinum_10_V120027_S.xml file? I already searched on the Rexroth, ctrlX Automation, Collaboration Room and Elmo webseites and it's nowhere to be found.