Configure a Third-party Drive


  • KAS has limited support for third-party drives that follows the CANopen DS-402 standard.

Restrictions

These restrictions apply when using a third-party drive:

  • Only the Cyclic Synchronous Position mode (op-mode = 8) is supported.
    • No other modes (e.g., velocity, torque, etc.) are supported.
  • PDOs are not automatically selected.
    • The initial selection of PDOs is determined by the ESI file.
  • CoE Init Commands are not added automatically.
    • Initial selection of Init Commands is determined by the ESI file.
  • No third-party drive-specific I/O or configuration tabs are displayed.
  • ESI files for third-party devices are not included in the KAS-IDE installation package.

Procedure

  1. Add the third-party drive to the EtherCAT network.
  2. In the KAS-IDE:
    1. Add the ESI file for the third-party drive.
    2. Scan the EtherCAT network to discover the devices.
      The Discovered Devices and Modules dialog box opens. (Figure 1)

      3. Figure 1: Discovered Devices and Modules dialog box

    3. Click OK to save the changes or selections and close the dialog box.
      The device is added to the project tree in the EtherCAT node.
  3. Optional: In the Project Explorer, right-click the new device node and select Rename.
    The Rename dialog box opens.
    1. In the Rename text box, enter a name for the device.
    2. Click OK to save the changes or selections and close the dialog box.
  4. In the Project Explorer, double-click the new device node.
    The EtherCAT device configuration tab opens. (Figure 2)

    5. Figure 2: EtherCAT device configuration tab

  5. Navigate to the PDO Selection/Mapping tab. (Figure 3)

    6. Figure 3: PDO Selection/Mapping tab

  6. Verify these PDOs are present:
    1. Input (Tx) PDOs:
      • Status Word: Index 0x6041, Subindex: 0 (zero)
      • Position Actual Value: Index 0x6064, Subindex: 0 (zero)
    2. Output (Rx) PDOs:
      • Modes of Operation: Index: 0x6060, Subindex: 0 (zero)
      • Target Position: Index: 0x607A, Subindex: 0 (zero)

    • If the PDO Selection/Mapping tab does not include these PDOs by default, use the PDO Editor tab to included them.

  7. Navigate to the Distributed Clock tab and CoE Init Commands tab.
  8. Configure the drive as needed for the application.