Commissioning with a third-party 32-bit controller

The “Tc3_DriveMotionControl” library cannot be used. You can only execute travel commands by going through the state machine manually. See chapter State machine.

Since the box provides 64-bit process data by default, but this cannot be processed by some controllers, there is also the alternative option of mapping the process image with 32 bits. This can be set via the Predefined PDO Assignment “Drive motion control (32 Bit)”.
(To map the inputs and outputs manually, use the indices 0x1661 / 0x16E1 and 0x1A61 / 0x1AE1.)

All position related process data are 32-bit instead of 64-bit with this Predefined PDO Assignment. The 32 bits are divided into 20-bit single-turn and 12-bit multi-turn revolutions, independent of the resolution of the feedback.
The box still calculates internally with 64-bit data. Therefore, for example, 0x2108:08 “Calibration Position” must still be specified in 32-bit single-turn and 32-bit multi-turn instead of 20-bit single-turn and 12-bit multi-turn.

All non-position related process data remain unchanged in size. The address offsets of the individual process data are identical and padding bytes are inserted at the corresponding positions.

The velocity-related process data is scaled in 10,000ths of the parameter 0x6080 “Max motor speed”.

The process data for acceleration and deceleration specify in ms how fast the motor should accelerate to the speed specified in 0x6080 “Max motor speed” or decelerate from velocity to standstill. With a value of 2000 for the acceleration, the motor would need 2 s to reach the velocity.

Configuration