10 | More about MC6 and AS6?
STOBER
62
05/2018 | ID 442461.04
10.2
Important information about the AS6
10.2.1
CIA 402: incremental vs. HiRes Motion version
The
CiA 402
incremental and
CiA 402 HiRes Motion
applications are DriveControlSuite
applications that contain both controller-based and drive-based operating modes. Appropriate
device drivers, which have to correspond to the application projected in the DriveControlSuite,
exist on the controller side.
With the HiRes Motion version, the interface for the controller is specifically tailored to the HiRes
MC6 device driver, meaning that reference and actual values are displayed and transmitted in
units that can be individually defined by the user.
For additional differences between the two versions, refer to the following table.
SD6_xx/SI6_SC6_xx
SD6_xx_HiRes/
SI6_SC6_xx_HiRes
Interface positions
Increments
User units, e.g. mm or °
Interface velocities
Increments/s
User units, e.g. mm/s or °/s
Modulo management
In the motion controller
In the drive controller
Axis model
In the motion controller
In the drive controller
Multi-turn absolute encoder
for modulo axes
Currently not supported
Supported
Scope in the drive controller
and in AS6 with the same
units
Technically impossible
Supported
Maximum travel range with
limited axes
Travel range limited to 2
32
increments
No limit exists
MC_SetPosition command in
the motion controller
Possible without limitation
Possible without limitation; the
actual position in the drive
moves to the actual position
in the motion controller
Tab. 20: CiA 402 incremental vs. CiA 402 HiRes Motion
If the MC_SetPosition command is not needed in the motion controller, STOBER recommends
using the HiRes version, that is, of a HiRes device driver. Note that a driver change
necessitates the corresponding adjustment of the project configuration and parameterization of
a drive controller.