EtherCAT and CANopen are international open standards for distributed control structures in drive technology. The main objectives of using distributed intelligence are simplification of cabling, cost reduction and improved diagnostic possibilities.

CANopen aims solely at the structure with distributed intelligence, while EtherCAT can also be used in structures with central control.

Each of the two networks offers specific advantages and we offer a wide range of servo and stepper motor controllers for both networks.

Our partner Copley has also developed the additional software tools CML and CMO for their own amplifiers, which allow easy system programming and also easy migration from CANopen to EtherCAT.

Copley Motion Libraries - CML

The Copley Motion Library (CML) is a C++ object-oriented software library for EtherCAT and CANopen fieldbus protocols. Customers can use the software and integrate it with their existing C++ based control software. In that way, the customer only has one PC in the machine which handles the regular control tasks, but also the motion control tasks, by communicating with distributed servodrives using CANopen or EtherCAT. This avoids the need for an additional EtherCAT or CANopen Master. This reduces cost and is one less device to manage. Also, the customer is not dependent on third-party vendors and can change the source code to support his own customers quickly and reliably.

CML runs on both LINUX and Windows operating systems, and allows low-level access to the CANopen and EtherCAT networks. It also provides high-level methods for easy development of network based motion control applications. Features include PVT, point-to-point moves, PDO, file transfers, and error handling. Please download the CML datasheet on the right-hand side, for further information. Alternatively, please contact us to discuss your needs.

The following videos show examples of how to use the CML C++ software libraries.

Do you have technical questions or need a quote?

Contact us today to talk to an experienced MACCON engineer!

Videos showing examples of how to use the C++ software for CANopen and EtherCAT motion tasks.

Video: How to initialize a servodrive in CML C++ software
Video: How to create a project in CML (Windows 10, Visual Studio 2019) from scratch
Video: Demonstration of Position-Velocity-Torque trajectory calculation in C++

Copley Motion Objects - CMO

Copley Motion Objects (CMO) are COM Objects which simplify the creation of Windows-based software for the control of Copley servodrives which are controlled over a CANopen or EtherCAT network. CMO is an API that gives software developers access to an amplifier’s CANopen/EtherCAT functions without having to learn the complexities of the underlying network protocol. CMO is a managed .NET assembly, which means that it can be used with client code that supports .NET assemblies.

For further information, please download the CMO datasheet on the upper right-hand side,. Alternatively, please contact us to discuss your needs.

Video: CMO Copley Motion Objects, Getting Started with CANopen
Video: Data Logger Example
Video: How To Clear Latched Encoder Faults

Overview of functionality of CML and CMO

Software environmentC++Visual Basic
Real-time multi tasking OS
Network managementConfiguration and Startup
Node management
Messages (SDOs, PDOs, etc.)
Fault management
Motion ControlProfile generation
PVT Trajectory calculation (Position Velocity Time)
Buffer administration for PVT in the amplifier
Execute programs and sequences (z.B. Homing)
GeneralSet and get parameters
Download of setup files for the amplifier
Error management
Read/write from/to CANopen I/O-Modules