BECKHOFF ET9300 - Manual (Page 63)

Application Note ET9300 61
10 CiA402 drive profile
Since version 4.30 the Slave Stack Code contains a sample implementation of the CiA402 drive profile
as described in [1] . This implementation provides the interface between the motion controller
application and communication layer.
Following features are supported:
- CiA402 objects (see chapter 10.1 Objects)
- CiA402 state machine (see chapter 10.2 State machine)
- This implementation supports cyclic synchronous position (csp) and cyclic synchronous
velocity (csv) operation modes.
CiA402 specific files:
cia402appl.c : CiA402 drive profile implementation
cia402appl.h : Drive profile specific objects, definitions and axes structures
All motion controller related values are encapsulated in structure TCiA402Axis (file:
cia402appl.h). The configuration parameters and error codes are directly mapped to the
corresponding objects. The process data objects are updated in the input/output mapping functions
(file: ecatappl.c). Currently the sample supports maximum of two axes. The axes are initialized in
the EtherCAT state change from PREOP to SAFEOP.
The motion controller is a simple integration, which just copies the target values to the actual values
(see chapter 10.3 Operation modes).
10.1 Objects
All CiA402 specific objects are defined in file cia402appl.h.
All mandatory and some optional object are defined in this sample implementation. Table 8 contains a
list of all defined objects. The object variables are located in the structure CiA402Objects.
Table 8: Object definitions in file cia402appl.h
Index Object name Variable in source code Comment/Description
0x1600 Rx PDOs sRxPDOMap0 includes all objects required for
dynamic change between csv/csp
0x1601 Rx PDOs sRxPDOMap1 includes objects required for csp
mode of operation
0x1602 Rx PDOs sRxPDOMap2 includes objects required for csv
mode of operation
0x1A00 Tx PDOs sTxPDOMap0 includes all objects required for
dynamic change between csv/csp
0x1A01 Tx PDOs sTxPDOMap1 includes objects required for csp
mode of operation
0x1A02 Tx PDOs sTxPDOMap2 includes objects required for csv
mode of operation
0x1C12 SyncManger 2
PDO assign
(Rx PDOs) sRxPDOassign this object is written in change
state from PREOP to SAFEOP;
the configuration depends on the
number of axes (not include in
CiA402Objects)
0x1C13 SyncManger 3
PDO assign
(Tx PDOs) sTxPDOassign equal to 0x1C12 (not include in
CiA402Objects)
0x603F Error Code objErrorCode this value shall be set if an error
in the PDS occurs