Commissioning in TwinCAT 3

Use the following steps to configure an ELM72xx in TwinCAT 3 for operation with Drive Motion Control.

1. Set the operation mode "Drive Motion Control (DMC)" in CoE parameter 0x7n10:03 "Modes of operation".
Commissioning in TwinCAT 3 1:

2. Activate the Predefined PDO Assignment "Drive motion control (For TC3 DriveMotionControl Lib)".
Commissioning in TwinCAT 3 2:

The process data for using Drive Motion Control is activated.

3. Create a PLC project if none has been created yet.

4. Add the "Tc3_DriveMotionControl" library to the PLC project.
(If you want to use Drive Motion Control without the "Tc3_DriveMotionControl" library, see chapter State machine.)
Commissioning in TwinCAT 3 3:

5. If the “Tc3_DriveMotionControl” and “Tc2_Mc2” libraries are used simultaneously in the current project:
In the “Properties” window, set the “Qualified access only” property of one of the two libraries to “True”.
Commissioning in TwinCAT 3 4:

The library with “Qualified access only” can only be addressed in the PLC code via the corresponding namespace, e.g: Tc3_DriveMotionControl.MC_Stop()
This avoids name conflicts, e.g. when calling the function block MC_Stop, which has the same name in both libraries.

6. Declare a variable of type “AXIS_REF” in the PLC. Sample:

VAR
   DmcAxis:   AXIS_REF;
END_VAR

7. Click on “Build” > “Build Solution” in the menu bar.

The project is compiled.

The process image of the PLC task is generated.
Commissioning in TwinCAT 3 5:

8. In the Solution Explorer link the PLC variables with the process data of ELM72xx.
Commissioning in TwinCAT 3 6:

9. In the PLC code, call the function block ReadStatus() cyclically, ideally at the beginning of each PLC cycle.

Further Information

Parameter