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CiA 402 motion library for Beckhoff TwinCAT 3 and TwinCAT 2 PLCs to support the drive-controlled homing with motor controller from Festo. This library supports the use of the TcMC and Tc2_MC2 motion library from Beckhoff for EtherCAT and CAN.

Version changes:
Changes compared to the previous version:

• Error handling deactivated, if fb is inactive
• Set modes of operation to default mode if nc-axis is not in OP at the beginning

Supported systems:

• integrated drive EMCA-EC-67- (1509036)
• Motor controller CMMP-AS-C10-11A-P3-M0 (1622904) Revision 08
• Motor controller CMMP-AS-C10-11A-P3-M3 (1501328) Revision 08
• Motor controller CMMP-AS-C15-11A-P3-M3 (3215473) Revision 03
• Motor controller CMMP-AS-C2-3A-M0 (1622901) Revision 08
• Motor controller CMMP-AS-C2-3A-M3 (1501325) Revision 08
• Motor controller CMMP-AS-C5-11A-P3-M0 (1622903) Revision 08
• Motor controller CMMP-AS-C5-11A-P3-M3 (1501327) Revision 08
• Motor controller CMMP-AS-C5-3A-M0 (1622902) Revision 08
• Motor controller CMMP-AS-C5-3A-M3 (1501326) Revision 08
• servo drive CMMT-AS-...-11A-P3-... (5111189)
• servo drive CMMT-AS-...-3A-... (5111184)
• servo drive CMMT-AS-C12-11A-P3-EC-S1 (8133355)
• servo drive CMMT-AS-C12-11A-P3-MP-S1 (8143169)
• servo drive CMMT-AS-C12-11A-P3-MP-S3 (8151397)
• servo drive CMMT-AS-C18-11A-P3-MP-S1 (8157801)
• servo drive CMMT-AS-C18-11A-P3-MP-S3 (8166886)
• servo drive CMMT-AS-C2-11A-P3-EC-S1 (5340821)
• servo drive CMMT-AS-C2-11A-P3-MP-S1 (8143165)
• servo drive CMMT-AS-C2-11A-P3-MP-S3 (8151393)
• servo drive CMMT-AS-C2-3A-EC-S1 (5340819)
• servo drive CMMT-AS-C2-3A-MP-S1 (8143163)
• servo drive CMMT-AS-C2-3A-MP-S3 (8151391)
• servo drive CMMT-AS-C25-11A-P3-MP-S1 (8157802)
• servo drive CMMT-AS-C25-11A-P3-MP-S3 (8166887)
• servo drive CMMT-AS-C3-11A-P3-EC-S1 (5340822)
• servo drive CMMT-AS-C3-11A-P3-MP-S1 (8143166)
• servo drive CMMT-AS-C3-11A-P3-MP-S3 (8151394)
• servo drive CMMT-AS-C4-3A-EC-S1 (5340820)
• servo drive CMMT-AS-C4-3A-MP-S1 (8143164)
• servo drive CMMT-AS-C4-3A-MP-S3 (8151392)
• servo drive CMMT-AS-C5-11A-P3-EC-S1 (5340823)
• servo drive CMMT-AS-C5-11A-P3-MP-S1 (8143167)
• servo drive CMMT-AS-C5-11A-P3-MP-S3 (8151395)
• servo drive CMMT-AS-C7-11A-P3-EC-S1 (8133354)
• servo drive CMMT-AS-C7-11A-P3-MP-S1 (8143168)
• servo drive CMMT-AS-C7-11A-P3-MP-S3 (8151396)
• servo drive CMMT-ST-C8-1C-EC-S0 (8084005)
• servo drive CMMT-ST-C8-1C-MP-S0 (8163946)

This document describes what each CAN parameter in the CODESYS V3 programming environment does, as well as show the available Function Blocks to implement diagnostics or pa-rameterization within the PLC’s Task.

Application Note for the realization of the safety sub-function safe torque off (STO) with category 3 and up to PL e for stepper motors or category 3 and up to PL d for EC motors. This Application Note contains possible circuits for the servo drive CMMT-ST-…-S0.