Please be aware that the current OPC-UA implementation supports only objects with an idempotent character. Elements like cmd do NOT lead to idempotent reaction and are therefore not supported so far. UAExpert lists the non supported types like shown in the above figure or noted here: Which objects are affected? A small range of motion-axis commands is shown exrmplarily right side. In generell all the object which are operated by the POST-method in case of runnig REST-API communication. On the other hand the objects operated with REST methods PUT/GET etc. lead to idempotent reactions and are supported yet. Several times invoking the same REST - GET/PUT will lead to the same result. The REST-POST differs. Further details regarding timeline can not be published so far.
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SMC3 (Stepper Motor Controller from Cannon-Automata)
Purpose of the paper:
Discover the configuration steps to run the external stepper motor controller as IO Device.
Realize the usage of SMC-internal interpolation for positioning - and velocity mode.
Note that the ctrlX runs just the MDT/AT communication without support on ServiceDataObjects by CoE.
Connect the SCM3-Ecat device with the ctrlX (XF24-EcatM) directly or connect to the already existing line with other Ecat-Slave(s).
Start the ctrlX-IOEngineering. Add the corresponding SMC3 XML device-description-file to the device database.
Scan the network and add the SCM3 to the configuration, Download the configuration into the ctrlX.
From now, the data_containers (MDT/AT) related to the SMC3 card are registered by the datalayer and access is provided in general.
Either use our website to access or optional any other Rest-client like Yarc/Rested/…
Please note that the SMC3 provides the communication profile CoE, which the ctrlX-EcatMaster is not yet supporting. Hence, we can operate just via the standard MDT/AT cyclic communication and we cannot run Service-data-objects using acyclic communication. For instance, reconfiguring the SMC3 is not feasible with our Ecat-Master – the related SDO functionality is planned but not yet implemented. In case changes on the SMC-parameters are needed, the access has to be provided by an alternative method. Imagine running during setup phase a 3 rd party EcatMaster providing CoE.
Simply command the SMC3 in the corresponding ‘Mode of Operation’ ( -> 1 – pp mode positioning) and operate the ‘ControlWord’ (like described below) should bring the stepper in action.
A HOMING message is part of the MDT-mapping. With respect to the variety of homing options further details are available in the attached SMC3 datasheet.
Navigate the datalayer tree and enter the data directly in the website or operate the data-point using the corresponding url/payload by any Rest-client for instance.
OPMode Mode of Operation = 1dez (ppMode Positioning) Mode of Operation = 3dez (ppMode Velocitiy)
Example - details on datasheet
Enable Power bit so/ev/qs/eo
Rel. positioning (abs/rel bit) +64
Change set immediately +32
New Setpoint +16
In case of operating the SMC and the stepper is not reacting like expected without signing Error-flag it might be, that the SMC is running with configured microstep. Means - every set is subdivided by 256 microsteps. Keep in mind that 1 revolution becomes then 200 * 256 = 51200 ! It may be hard to realize that the stepper is operating correctly – since the movement is too small to recognize by watching.
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The Problem can occur by updating the ctrlX Core with a new image. That requires a update of the ctrlX DRIVE Firmware. If this is not done you will get this error.
The updates of the drive-related firmware files is operated the ctrlX DRIVE Engineering. Perspectivley the handling with the fwa file will rolled out soon. So far the update is covered by ibf files.
For example the - FWB XD1 ACA ...contains the Axis-controller FW-parts and - FWB XD1 COM ... covers the communication part. DriveX (without ctrlX Core) The update needs to be done in a certain order ... 1st ACA , 2nd Com.
DrivePlus with ctrlX Core Update 1st ACA FW and 2nd ctrlX CORE image (the core image covers the Com internally).
Consider: - ECAT Communication needs to loaded/created (based on the related ctrlX-IO Engineering). Remember to activate EoE within the ctrlX IO Eng. to be able to reach the drives with ctrlX DRIVE Eng. afterwards.
Note: - to avoid incompatibility problems regarding the update/downdate of ACA versions (not all version support that handling) -> contact ctrlX DRIVE or ctrlX CORE support before performing.
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Hello ! Basically I wonder how to arrange a snap including 1 or 2 cpp file, running a programm with controller-routines in different tasks (2ms/ 8ms) both providing and using RT-data from each other and ECAT nodes. Please feel free describe the principle of defining task and callable-routines and connecting them within the snapcraft.yaml. Examining systemtime and operating with sleep_for on the threat could be a workaround, but ignors the system-provided synch-mechanismns of the task-scheduler we want to benefit of. Bye and thanks! Jens
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