DRIVElink with integrated core

[Joonas]

Hello,

I have XCD drive with integrated ctrlx Core. I want to test drivelink functionality, but I have not been able to command slave axis from ab to Af. S135 must be included in the ethercat configuration, but I am unable to write to it. Using Motion app to access S135 is also not possible, because Motion app forces me to map S47 (Cyclic position control), which I want to read from the drivelink master axis instead of motion app.

I tried to work around this by setting drive profile to Soe, bit 14 "drive enable" not evaluated and use P116 directly, without success.

I suppose this would be easier, if I could change drive communication protocol to e.g sercos, but apparently this is not possible with the integrated core.

Any suggestions which parameter I can use to set enable and how the master communication should be configured?

[stefanAT_ctrlX · Accepted solution]

Hello @Joonas ,

I just made a fast check with my XCD and integrated CORE. I have just no motors connected and therefore I use AxisSimulation.

But I set AF with S-134 (directly here now from DataLayer /Fieldbus S-134 to 111....   and also before the slave S-134 to AF.

The S-47 I have just for the masterdrive and the for the slave drive I cancelled the S-47 from the EtherCAT (IO-Engineering)  (you need the Expertadjustments to change the process data) .

The slave follows the master.

That was just a fast test ! 😉

[Joonas]

Hi,  stefanAT_ctrlX

It seems that setting the Axis control via DRIVElink to true on the slave axis prohibits the axis from being commanded via s134. After unselecting this, the axis can be enabled via data layer and it seems to follow master axis.

Thanks for the help!

[stefanAT_ctrlX]

Yes, with the option "Control via DRIVElink" not the S-134 is used but the P-1872.

For example I have a project where I intended to use the control via DRIVElink at the slave because I want just one slave device on the bus (I mean my customer just wants to see one slave on his sercos (or EtherCAT) bus (=DRIVElink-master). And the P-1872 in the DRIVElink slave is controlled by DRIVElink master.