Beginner's question : TC3 Indra Drive via CANopen

[karthik.CH]

Zuviel Werbung?
-> Hier kostenlos registrieren

Hello experts,
I am trying to connect to a node on Indra Drive HCS01 using the CX5130 CANopen interface. When I search for the box under the CiA device, nothing shows up(no problem with the wiring). Do I need to import the .XML file for the indradrive before scanning for the boxes? On the Bosch website, I have two XML files available, XML_CoE and XML_SoE, As far as I understood, I need to import the SoE file. It would be a great help if someone could provide a link or documentation about the configuration of a CANopen device on TwinCAT. I refered to the following link http://Beginner's question : TC3 Indra Drive via CANopen but didnt find the solution. Please help, how should I proceed? Thank you.

 

[oliver.tonn]

Both files are wrong, because they are for devices connected via EtherCAT. The CoE is for a device working internally as CAN-Device (CoE = CAN over EtherCAT), the other file is for a device working internally as Sercos-Device (SoE = Sercos over EtherCAT). The files you will need, are EDS-Files, they should be provided by Bosch.
Here is a link to an english webpage of Bosch and this link should lead to an ZIP-archive with the correct ESD-files.

 

[karthik.CH]

Zuviel Werbung?
-> Hier kostenlos registrieren

Thank you very much as always,
So,if I am right, after I import the EDS files (load PDO's from EDS file) on the node, I will be able to access the PDO's? Thank you.

 

[oliver.tonn]

No, Bosch allways go there own (complicated) way. You have to edit the PDOs of each controller via Indraworks DS and then load them in TwinCAT into the node.
Correction: I have never worked with HCS01 other then with EtherCAT. It seems, that the PDO configuration will be sownloaded from the controller automaticly.

 

[karthik.CH]

Hello again Mr. Oliver,
I have a simple question, after connecting a node physically to the CX5130 via CANopen interface, when I scan the CiA device (master) for boxes, should the boxes (nodes) appear naturally?
In my case, I have added the node through miscellaneous>CANopen node and imported the PDO's from the EDS file and I can see the offline data. The problem is, I am not connected to the node (blinking red led). Does it connect only after the PDO assigning or? I am confused, going through all the CANopen documentations and not understanding a bit, please help. Thank you.

 

[oliver.tonn]

Zuviel Werbung?
-> Hier kostenlos registrieren

Is the Master in OP state on the EtherCAT side?

 

[karthik.CH]

Yes, master is OP.

 

[oliver.tonn]

Sorry, I meant the CAN master. Did referenced to that or did you accidentally check the state of the EtherCAT master?

Von irgendwas mit Internetzugang gesendet.

 

[karthik.CH]

Zuviel Werbung?
-> Hier kostenlos registrieren

Yes, both the EtherCAT master and the CAN master are in OP. The indradrive state machine have different OP modes (AH, AF, AB ....), but we can see that it is an OP.
Let me explain you clearly what I want to do (not sure I am doing it the right way, please correct me)...
I have a machine which runs on Indra Drive HCS01 basic (MPB18) with different nodes controlling different tasks. I have a prototype running on CX5130. The node 4 gives signal (1 or 0) when ever the axis moves. I want to access these signals on my CX5130. After, particular no. of axis movements, the axis should stop and my prototype should start working and later, the axis should carry on with its movements. (Sorry if this is not relevant to you, but to get help, I explained).
So, I want to access that particular node via the CANopen interface on CX5130 and write the PDO's to stop the axis for my prototype to run....
What I have tried is.. I took out the CANopen plug of the node from the network and connected to CX5130... and searched for the node. Did not work. (What do you suggest instead). Thank you again.