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ethercat and third party drives


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i was under the impression that the ecat module would allow control of third party drives using the built in motion code (MC_...) but it seems when I load the ESI file I have access to drive parameters with SDO read/write but no way to actually control it.  I can't seem to add the drive or its related axis to the hardware configuration or program motion logic for it.  I am missing something?  Does the built in motion code only work for unitronics servo drives and motors?



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