Hello, Here are some setting for 3rd party CiA402 profile(with MOTION version 1.14 ). It would be some help. axis profile support for third-party drives(CoE protocol) CiA402 is quite a flexible protocol, it defines many optional objects for object dictionary. Thus, leads to a phenomenon, that different vendor implements same function with different objects. To support more 3rd party brands, here are several attributes need to be set. Fig. scaling attributes setting 1.scalingStrategy means the specific scaling strategy, the available value can be: SOE_STANDARD, COE_CALC_DRIVE, COE_CALC_CONTROL. It depends on the profile type . SoE profile: SOE_STANDARD available CoE profile: COE_CALC_DRIVE, COE_CALC_CONTROL available COE_CALC_DRIVE strategy means scaling calculation processed on drive side. COE_CALC_CONTROL strategy means scaling calculation processed on controller side. Note: For now, COE_CALC_CONTROL is designed for 3rd party drives. 2.scalingType means the move type of the axis: LINEAR or ROTARY 3.numerator and denominator: define the scaling information together. (only available for COE_CALC_CONTROL strategy) 4.resolution: corresponding to encoder resolution. (only available for COE_CALC_CONTROL strategy) Notes: The scaling parameters (resolution) on the controller should be real encoder resolution. The scaling parameters setting on the controller side will only take effect when the COE_CALC_CONTROL strategy is selected. Currently COE_CALC_CONTROL scaling strategy only supports position mode. According to test result, axis profile can support Wittenstein/Inovance, other brands maybe also support, but need test for compatibility.
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