I have an application that I'm trying to get a Bosch XCS2 Spindle working with the Beckhoff CNC Kernel. I've been able to create my spindle axis in TwinCAT, and communicate with the drive just fine. Where I'm running into issues is it seems my control word / status word is bitshifted or something. My enable works fine being commanded from the CNC, but clearing faults and resetting the drive after activating a configuration isn't functioning using SoE. Feedback position is coming through just fine, the status words are agreeing looking at TwinCAT vs ctrlX Engineering. If anyone has done this before, I would appreciate any help. After more in depth analysis, it appears that the firmware for the drive that I have is before FSoE was supported by CoE (CAN over EtherCAT). There seems to be an issue where SoE (Sercos over EtherCAT) is not properly passing the reset / clear fault function from the CNC Kernel. For anyone looking for help with this, your firmware has be newer than 0502 in the XCS2 platform.
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