Introduction
This article explains how to connect the 3G3AX-MX2-ECT drive with EtherCAT directly to a PC with TwinCAT installed. Following the instructions will allow you to control the drive using TwinCAT software.
Method
To control your 3G3AX-MX2-ECT drive drive using TwinCAT software:
- Install TwinCAT
- Copy the attached XML file to the TwinCAT directory (default at C:\TwinCAT\Io\EtherCAT)
- Start TwinCAT System Manager, Select Option -> ‘Show Realtime Ethernet Compatible Devices...’ :
- Install the Ethernet adapter to use for EtherCAT. In the Connection Properties window select only the TwinCAT Driver and Protocol:
- Connect with CX-Drive and configure the basic settings for the MX2, A001 and A002 to ‘4:Option Card’:
- Connect the Drive with the EtherCAT adapter
- In the left basic field select I/O – Configurations -> I/O Devices -> Scan Devices:
- Reply with OK for ‘Not all types of devices can be found automatically’. Select the device for use with EtherCAT, reply with OK for ‘Scan for boxes’, ‘EtherCAT drives found. Add drives to NC-Configuration’ and ‘Active Free Run’:
- In the left basic field select I/O – Configurations -> I/O Devices -> Device x (EtherCAT) -> Drive 1(3G3AX-MX2-ECT) -> 2nd Fixed Receive PDO mapping.
- Click on ‘Frequency reference’ (left box), in the Online tab click on ‘Write’ (right box), fill in the Set Value Dialog Dec: 2000 (Example 2000=20Hz) and close with
OK:
- Click on ‘Command’ (left box), in the Online tab clic on ‘Write’ (right box), fill in the Set Value Dialog Dec: 1 (Example 1=Forward, 2= Reverse), close with OK:
Used versions:
- TwinCAT NC1 v2.11 (Build 1539)
- CX-Drive 2.1.0.9
- ESI_Omron_3G3AX-MX2-ECT_Verl_0_20100617_ForTwinCAT.xml
