The purpose of this application note is to illustrate a simple guide for using RosettaCNC board B with EtherCAT command.

The configuration nr.01 consists of a series of Delta ServoDrives model ASD-A2-xxxx-E. Up to 7 ServoDrives can be connected. The spindle is driven by analogic output. No EtherCAT Spindle device is provided for this configuration.

We need:

• A RosettaCNC board B purchased with EtherCAT option (see “Order Code” “Motor control type” at value E).
• From 1 to 7 ServoDrives purchased from RosettaCNC team (preconfigured to be ready to go)

• Install the latest version of the RosettaCNC software
• Close the application software. Open application folder and replace the RosettaCNC1.ini with the attached.
• Open the “Board firmware manager” panel and start to download the EtherCAT firmware named RosettaCNC-BE-01.
• Open Board settings panel, press Import.. buttom and load the attached XML file.

At the end connect RosettaCNC software to the board. The software, only at the first run, takes some time (3-4 minutes) to generate a cache and be fast in subsequent runs. You can see the progress in the progress bar at the bottom in the RosettaCNC software.

This configuration uses the Auto Increment Address of the EtherCAT slave device. Auto-increment addressing can be used to address each slave device via its physical position in the communication ring. The first slave in the ring is X-axis, the second Y-axis, etc. This is the slave list:

• X-Axis
• Y-Axis
• Z-Axis
• A-Axis
• B-Axis
• C-Axis
• V-Axis

If the machine miss an Axis the physical cable must follow the next axis present.

Update Advanced Parameter from 121 to 129 according to ServoDrive presence.

Reboot system

Settings file
RosettaCNC1.ini

Same servo drive settings are available on Advanced parameters. Other must be set by Delta configuration software.

• Depending on the machine's requirements, the STO safety signals must be wired correctly.
• To reverse the motor rotation, change parameter P1-01 from 0x000c to 0x010c, and the parameter P3-12 from 0x0000 to 0x0100
• If you need to create a new absolute origin coordinate powerup drive without EtherCAT, set P2-08 at 271 and P2-71 at 1, and reboot. Set P2-08 at 36 and P2-71 at 0. In this way, the actual position became the zero coordinate.
• Motor pulses per revolution are initialized ad 10000. If you need to change it set the new value in the P1-45 parameter.
• Every drive has the DO1 digital output configured as BREAK so if the motor has the magnetic brake device use this signal to activate the relative relay. Refer to the Drive documentation for the correct circuit.
• Every drive has the DO2 digital output configured as WARN. It is useful to sign by a lamp if a drive has a warning state active.