The VI Package for each plug-in contains complete descriptions of homing modes, unit scaling, I/O compatibility, and other plug-in specific features. The minimum software set version applies to LabVIEW, SoftMotion, and the NI-RIO driver. The installation link below requires that VI Package Manager be installed.
| Drive Vendor | Bosch-Rexroth | Copley Controls | Delta | |
|---|---|---|---|---|
| Drive Model | IndraDrive Cs, C, M, Mi, ML | Accelnet Plus Xenus Plus Xenus Plus Compact | Stepnet Plus | ASDA-A2-E |
| SoftMotion Position Moves | Yes | Yes | Yes | Yes |
| Drive-based Velocity Mode | Yes | Yes | Yes | Yes |
| Drive-based Torque Mode | Yes | Yes | No | Yes |
| Limit and Home Switches | Yes | Yes | Yes | Yes |
| Position Capture (Touch Probe) | Yes | Yes | Yes | Yes |
| General Purpose Digital Inputs | No | Yes | Yes | No |
| General Purpose Digital Outputs | No | No | No | No |
| Find Reference Moves | ||||
| Home | Partial1 | Partial1 | Partial1 | Full |
| Forward Limit | Yes | Yes | Yes | Yes |
| Reverse Limit | Yes | Yes | Yes | Yes |
| Index | Yes | Yes | Yes (req. encoder) | Yes |
| Absolute | Yes | Yes | Yes | Yes |
| Scan Engine Periods2 | 1, 2, 4, 6, 8, 10ms (Some models: 250, 500us) | 1, 2, 4, 5ms 500us | 1, 2, 4, 5ms | |
| EtherCAT Distributed Clock | Yes - Required | Yes - Required | Yes - Required | |
| Supported Firmware Versions | 20V08, 20V10, 20V12, 20V14 | 2.54 and later | 1.643.366 and later | |
| Minimum NI Software Set Version | 2016 | 2016 | 2016 | |
| VI Package Installation Link | Install | Install | Install | |
| Drive Vendor | Dunkermotoren | Elmo | Maxon | Mitsubishi |
|---|---|---|---|---|
| Drive Model | BG EC | Gold | MAXPOS 50/5 | MR-J4-TM |
| SoftMotion Position Moves | Yes | Yes | Yes | Yes |
| Drive-based Velocity Mode | Yes | Yes | Yes | Yes |
| Drive-based Torque Mode | Yes | Yes | Yes | Yes |
| Limit and Home Switches | Yes | Yes | Yes | Yes |
| Position Capture (Touch Probe) | No | No | Yes | Yes |
| General Purpose Digital Inputs | Yes | Yes | Yes | No |
| General Purpose Digital Outputs | No | Yes | Yes | No |
| Find Reference Moves | ||||
| Home | Full | Partial1 | Partial1 | Partial1 |
| Forward Limit | Yes | Yes | Yes | No |
| Reverse Limit | Yes | Yes | Yes | No |
| Index | Yes | Yes | Yes | Yes |
| Absolute | Yes | Yes | Yes | Yes |
| Scan Engine Periods2 | 1, 2, 4, 5, 6ms 250, 500us | 2, 4, 6, 8ms | 1, 2, 4, 5ms 250, 500us | 1, 2ms 250, 500us |
| EtherCAT Distributed Clock | No | Yes - Required | Yes - Required | Yes - Required |
| Supported Firmware Versions | 01.86.00.76 | 01.01.11.00 01.01.11.09 | 0x0121 | B0 through B3 |
| Minimum NI Software Set Version | 2016 | 2016 | 2016 | 2016 |
| VI Package Installation Link | Install | Install | Install | Install |
| Drive Vendor | Panasonic | Sanyo Denki | Schneider Electric | Yaskawa |
|---|---|---|---|---|
| Drive Model | MINAS A5B | SANMOTION R Advanced (RS2) | Lexium 32M Lexium 32i | Sigma-7 100/200V |
| SoftMotion Position Moves | Yes | Yes | Yes | Yes |
| Drive-based Velocity Mode | Yes | Yes | Yes | Yes |
| Drive-based Torque Mode | Yes | Yes | Yes | Yes |
| Limit and Home Switches | Yes | Yes | Yes | Yes |
| Position Capture (Touch Probe) | Yes | Yes | No | Yes |
| General Purpose Digital Inputs | Yes | Yes | Yes | Yes |
| General Purpose Digital Outputs | Yes | Yes | No | Yes |
| Find Reference Moves | ||||
| Home | Partial1 | Full | Full | Full |
| Forward Limit | Yes | Yes | Yes | Yes |
| Reverse Limit | Yes | Yes | Yes | Yes |
| Index | Yes | Yes | Yes | Yes |
| Absolute | Yes | Yes | Yes | Yes |
| Scan Engine Periods2 | 1, 2, 4ms 250, 500us | 1, 2, 4ms 250, 500us | 1, 2, 4, 5ms 500us | 1, 2, 4ms 250, 500us |
| EtherCAT Distributed Clock | Yes - Required | Yes - Required | Yes - Required | Yes - Required |
| Supported Firmware Versions | 1.01 through 3.04 | 58.4.05 | 32M - V1.26 32i - V1.06 | 8.00, 8.03, 8.06, 8.13, 8.14 |
| Minimum NI Software Set Version | 2016 | 2016 | 2016 | 2016 |
| VI Package Installation Link | Install | Install | Install | Install |
| Drive Vendor | Parker Hannifin | ||
|---|---|---|---|
| Drive Model | P Series | E Series | Compax3 |
| SoftMotion Position Moves | Yes | Yes | Yes |
| Drive-based Velocity Mode | Yes | No | Yes |
| Drive-based Torque Mode | Yes | No | No |
| Limit and Home Switches | Yes | Yes | Yes |
| Position Capture (Touch Probe) | Yes | Yes | No |
| General Purpose Digital Inputs | Yes | Yes | Yes |
| General Purpose Digital Outputs | Yes | Yes | Yes |
| Find Reference Moves | |||
| Home | Full | Partial1 | Full |
| Forward Limit | Yes | Yes | Yes |
| Reverse Limit | Yes | Yes | Yes |
| Index | Yes | Yes | Yes |
| Absolute | Yes | Yes | Yes |
| Scan Engine Periods2 | 1, 2, 4, 5ms 500us | 1, 2, 4, 5ms | 1, 2, 4, 5ms 500us |
| EtherCAT Distributed Clock | Yes - Required | No | Yes - Required |
| Supported Firmware Versions | 0.90, 0.93, 0.94 | All | 2017R09-76 and later |
| Minimum NI Software Set Version | 2016 | 2016 | 2016 |
| VI Package Installation Link | Install | Install | Install |
Note 1: SoftMotion supports 8 of DS402's possible modes to find a home switch. Drives with "partial" support listed in this table support a subset of these modes, but are still able to perform a move to the home switch. See the plug-in's release notes for full documentation on supported modes.
Note 2: The supported Scan Engine periods are heavily dependent on the LabVIEW Real-Time Controller used as the EtherCAT Master and the number of drives in the EtherCAT network. Periods lower than 4ms should only be used with high performance controllers.