Hi,
I am trying to configure PDO on a Kollmorgen AKD drive.
So I send SDO requests to the drive, but in return I have a strange message from
ethercat master.
These are my commands:
$ ethercat -p4 --type uint8 download 0x1C12 0 0
$ ethercat -p4 --type uint16 download 0x1C12 1 0x1701
$ ethercat -p4 --type uint8 download 0x1C12 0 1
$ ethercat -p4 --type uint8 download 0x1C13 0 0
$ ethercat -p4 --type uint16 download 0x1C13 1 0x1B01
$ ethercat -p4 --type uint8 download 0x1C13 0 1
$ ethercat rescan
These are the error messages, that appear only after the rescan.
$ dmesg
[27111.952217] EtherCAT 0: Scanning bus.
[27112.261848] EtherCAT ERROR 0-4: SDO upload 0x1701:00 aborted.
[27112.261851] EtherCAT ERROR 0-4: Unknown SDO abort code 0x08000004.
[27112.261853] EtherCAT ERROR 0-4: Failed to read number of mapped PDO entries.
[27112.261855] EtherCAT ERROR 0-4: Failed to read mapped PDO entries for PDO
0x1701.
[27112.265640] EtherCAT ERROR 0-4: SDO upload 0x1B01:00 aborted.
[27112.265642] EtherCAT ERROR 0-4: Unknown SDO abort code 0x08000004.
[27112.265643] EtherCAT ERROR 0-4: Failed to read number of mapped PDO entries.
[27112.265645] EtherCAT ERROR 0-4: Failed to read mapped PDO entries for PDO
0x1B01.
[27112.265647] EtherCAT 0: Bus scanning completed in 312 ms.
Indeed, it seems that the request index and request value are swapped,
and the abort code is unknown.
On the other hand, for pairs (index,subindex) that are not related to the PDO
mapping, I have no error messages, it seems to work normally.
I have tried with both master 1.5.1 and devel version and there is no
difference. I use Debian 6.0 with standard kernel 2.6.32-5-686-bigmem and the
ec_8139too driver.
What should I do to know if the problem is in the ethercat master or in the
Kollmorgen AKD drive ?
Best regards
---
sebastien
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