Define Motion Relationships Before Counting Axes
Several servos in one machine do not necessarily imply synchronized motion. Independent positioning, following a reference and coordinated path motion have different requirements. Define the mechanical transmission, load variation, production sequence and acceptable error together.
Inputs include axis count, travel, speed and acceleration, load profile, feedback, limits and expected behavior after power loss. Maximum catalogue values alone do not establish machine performance.
EtherCAT And Timing
EtherCAT can exchange data between the controller and field devices. Where devices support it, Distributed Clocks configuration coordinates local clocks. Bus cycle, control task and device timing must be considered together; there is no universally correct cycle value.
Check the ESI device description, firmware, PDO mapping and drive operating mode. Plan diagnostics for device state, communication loss and cycle errors. Protocol support and application-level compatibility are separate checks.
CODESYS And SoftMotion Options
Motion capabilities in a CODESYS system depend on the target runtime and libraries. SoftMotion is an optional motion control route; licensing, drive profiles and target support must be verified. SCADA, OPC UA or Modbus interfaces should be planned separately around data and monitoring needs; they do not automatically replace a synchronized motion network.
Commission In Stages
Start with electrical and mechanical checks, then verify individual axis direction, feedback, homing and limits. Test relationships between axes under controlled conditions before reviewing production sequences and loaded acceptance tests. Retain parameter backups, software versions and change records.
After a fault, position and reference validity must be reconsidered before restarting. Standard communication commands do not replace safe stopping functions; machine safety needs its own risk assessment.
Preparing For Engineering Support
Provide controller, servo and motor models, source project availability, mechanical diagrams and conditions that reproduce the issue. ISP Otomasyon assesses system suitability through its motion control engineering and CODESYS PLC software services. EtherCAT and specific synchronization functions are scoped after checking the selected hardware. See also the motion architecture guide.
Technical Sources
CODESYS EtherCAT master settings; Distributed Clocks device settings; CODESYS runtime and optional functions. This guide does not replace device-specific commissioning or safety instructions.