APOSS Motion Control Tools

CANopen Master Functions

Control external CANopen I/O modules: Control I/O’s as well as analog modules and CANopen encoders, just with the standard commands IN and OUT.

Control CANopen Drives: All drives using DS402 can also be controlled very easily simply by setting up corresponding drive types. Reference is velocity or position; feedback via CAN or directly via encoder.

♦ HeartBeat or Guarding: All activated CANopen monitoring functions are running automatically in background. If the slave does not answer, an APOSS error is triggered.

♦ Parameterize CANopen devices: With SDOREAD and SDOWRITE you can easily configure connected CAN modules and access every SDO.

♦ Synchronize CAN modules: Automatic sending of SYNC telegrams ensures the smooth functioning of all time-sensitive slaves, e.g. for slave drives with positioners.

CANopen Slave Functions

♦ DS301 and DS402 support: SPS communicates with zub controls the same as it does with other CANopen devices. A special APOSS program provides complete DS402 compatibility.

♦ SYNC telegrams are processed automatically and PDO processing is supported.

♦ HeartBeat / Guarding: All necessary slave functions are supported.

♦ SDO Dictionary: All parameters, program data, arrays, and process data can be read and written external.

♦ Freely configurable PDO: 4 PDOs are complete configurable, including COB-ID, Transmit Types, Event Time and Inhibit Time. The content is linked in existing user variables or with process data.

EtherCAT Slave Functionality (CoE)

Complete SDO dictionary (same as with CAN)

Support of long PDOs and SDOs: Up to 240 byte PDO and SDO lengths are supported. With these lengths, greater volumes of data can be transmitted easily.

Multiple PDOs with different cycle time: The PDO content can be easily linked with user variables or process data. Each SDO is available.

Synchronized clock is supported

Firmware and application down-load via EtherCAT

EtherCAT Master Functionality

Automatic scanning: Fewer APOSS commands are sufficient to scan the bus and determine the participants.

Configuration of bus participants: By linking of bus modules with virtual Inputs/Outputs, drives, and virtual encoders, any I/O and axis configuration can be realized.

Control of EtherCAT Drives in cyclic position mode or cyclic velocity mode or entirely by user-defined commands.

EtherNet TCP-IP Support

SDO via TCP/IP: Every SPS and PC with Ethernet support can easily read and write every SDO on the control.

APOSS-IDE via TCP-IP: Programming and download of firmware and applications is possible via Ethernet.