SMC3 (Stepper Motor Controller from Cannon-Automata)
Purpose of the paper:
Please note that the SMC3 provides the communication profile CoE, which the ctrlX MOTION is not yet supporting. Hence, we can operate just via the standard MDT/AT cyclic communication.
We cannot run Service-data-objects using acyclic communication. For instance, reconfiguring the SMC3 is not feasible with our EtherCat 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 3rd 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.
|Example - details on datasheet
|Enable Power bit so/ev/qs/eo||15|
|Rel. positioning (abs/rel bit) +64||79|
|Change set immediately +32||111|
|New Setpoint +16||127|
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.
As I understand our timelines CoE should be available from RM23.11. Will the above mentioned restrictions regarding SMC3 parameter change still be valid with the currently planned version?
Do you already have some practical experience with running SMC3 stepper drives with the ctlrX CORE?
Two things to mention here: