Twincat3 Motion with CANOpen Slave Motor

[paul_esp]

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Hello, dear community,

I need to control Brushless Motors with CAN Bus interface while EL6751 CANOpen Terminal.
I want to use Twincat3 Motion (NC), and use the motor as Servo Drive Axis Twincat.

I can receive, send data and control the motor with EL6751 . But I don't know how to add the motor to use with Twincat motion. I read the Infosys information, but I can't understand how is the correct procedure to add the motor into twincat motion.

I explain below the work I have done:

I have 8 Brushless Motors, these controlled by CANBus commands.
Motor: https://store.tmotor.com/goods.php?id=1188
User Manual: https://store.cubemars.com/images/file/20211201/1638329381542610.pdf

I used the EL6751 CANOpen terminal with the option "direct access to layer 2, no NMT" to send and receive data to control the motors.



I create the variables and directions to send and receive from each motor.


Variables for one motor


Now i am try to create a new axis, but i dont known how to link the variables of the axis with the varibles of CANOPen Node.
¿How to add the motor to control with Twincat Motion?

 

[Guga]

TwinCAT supports different "Interfaces" to control the axis.
The servo must support a matching interfaces, otherwise you have a problem. Otherwise two guys (NC and servo) talk in different languages.

The NC has some Beckhoff specific interfaces as well as two standards are DSP402 and Sercos.
From the servo documentation I see no reference to either of those two standards.


Guga