Configuring inverter as CiA402 axis

In order to use the inverter as a CiA402 axis, the following licensed libraries from B&R Industrial Automation GmbH are required:

  • McBase
  • MpAxis
  • McAxis
  • MpBase
  • McAcpAx
  • McDS402Ax

Proceed as follows:

  • You have purchased the necessary licenses for the libraries from B&R Industrial Automation GmbH.
  1. Switch to the Automation Studio project.
  2. Select the [Project] > [Change Runtime Versions] menu command.
    • The properties of the PLC are displayed.
  3. On the "Runtime Versions" tab, set the version of the mapp Motion component.
  4. Open the "Configuration View" tab in the System Designer and insert the "mappAxis" object from the object catalog in the "mappMotion" folder.
  5. In the configuration of the inverter ("Decentralized-Electronics"), specify that the libraries are used for the referenced axis. Set the number of increments per revolution under encoder settings. Since the position is scaled to 65536 increments per revolution regardless of the encoder used, the value 65536 must be entered here.