![]() ![]() ![]() The PLC performs the path planning (or so-called trajectory generation) of each drive axis and commands the CiA402 compliant motor controller (= EPOS4 or IDX) at a fast bus cycle rate (via so-called SYNC PDOs). The motion control libraries of the PLC manufacturers usually operate the EPOS4 or IDX (like all CIA402-compliant motor controllers) in the so-called "CSP - Cyclic Synchronous Position" mode. ![]() ![]() The motion control libraries of the PLC manufacturer can be used directly after the motor controller (= EPOS4) or motor (= IDX-ET) has been integrated into the PLC system environment with the so-called "System Manager" provided by the PLC manufacturer (e.g. Therefore, maxon does not provide its own specific motion control libraries or sample programs. All motor controllers that comply with this standard can thus be commanded by a PLC in a largely uniform manner (regardless of the manufacturer of the motor and motor controller). The EPOS4 (as well as the IDX) are based on the standardized " CiA402 - CANopen device profile for drives and motion control" for commanding and data exchange via CANopen or EtherCAT. Are there any specific motion libraries or PLC application code samples present by maxon?.What are required configuration steps to set up a Beckhoff TwinCAT PLC System to operate an EPOS4 or IDX (with EtherCAT)?. ![]()
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