ECL Homing Notes with PAC320 Via EtherCAT

Use SMC3_ETC_WriteParameter_CoE to do a SDO (acyclic 'one-shot' data write) to the eCL to set the Homing Speed and Homing Mode before doing an MC_Home.

Index and subindex are listed in eCL user manual.

eCL_PAC

PROGRAM PLC_PRG
VAR
YPower: mc_power;
bTurnOnY: BOOL;

Ymove: SM3_Basic.MC_MoveRelative;
bMoveY: BOOL;
Yhome: SM3_Basic.MC_Home;
bHomeY: BOOL;

YSetHomingMode:SM3_Drive_ETC.SMC3_ETC_WriteParameter_CoE;
bYSetHomingMode:BOOL;	

YSetHomingSpeed:SM3_Drive_ETC.SMC3_ETC_WriteParameter_CoE;
bYSetHomingSpeed:BOOL;	
END_VAR

YPower(
	Axis:= Y,
	Enable:=	TRUE,
	bRegulatorOn:= bTurnOnY,
	bDriveStart:= bTurnOnY,
	Status=> ,
	bRegulatorRealState=> ,
	bDriveStartRealState=> ,
	Busy=> ,
	Error=> ,
	ErrorID=> );
	Ymove(
Axis:= Y, 
Execute:=bMoveY , 
Distance:= 1, 
Velocity:= 1, 
Acceleration:=10 , 
Deceleration:=10 , 
Jerk:= , 
Done=> , 
Busy=> , 
CommandAborted=> , 
Error=> , 
ErrorID=> );
YSetHomingMode(
	xExecute:=bYSetHomingMode,
	xAbort:= ,
	uiIndex:=16#6098 ,
	usiSubIndex:= 0,
	usiDataLength:=1 ,
	dwValue:= 1,
	Axis:= Y,
	xDone=> ,
	xBusy=> ,
	xError=> ,
	dwErrorCode=> ,
	eError=> );

YSetHomingSpeed(
	xExecute:=bYSetHomingSpeed,
	xAbort:= ,
	uiIndex:=16#6099 ,
	usiSubIndex:= 1,
	usiDataLength:=4 ,
	dwValue:= 10000,
	Axis:= Y,
	xDone=> ,
	xBusy=> ,
	xError=> ,
	dwErrorCode=> ,
	eError=> );

Yhome(
	Axis:=Y ,
	Execute:= bHomeY,
	Position:= 0,
	Done=> ,
	Busy=> ,
	CommandAborted=> ,
	Error=> ,
	ErrorID=> );

ECLD-4DC-PC EtherCAT Stepper drive wiring for Limit Sensors (Limit+, Limit-, Origin; and Inputs & Outputs)

aka End of Travel and Home inputs

NPN sensors required with wiring shown.

ECLD_2D00_4DC_2D00_PC_2D00_wir_5213-20240521-000920.png