Yes I'm using Kollmorgen Servos, I'll try spacing Sdo operation with some idle cycles and see if that improves the reliability. I wrote Kollmorgen support and they just recommended not to overlap Sdo requests. Unfortunatly I cannot avoid Sdo operations during normal cycle since some variables cannot be pdo mapped. Thanks Luca
---- Messaggio originale---- Da: [email protected] Data: 23/05/2013 16.19 A: "[email protected]"<[email protected]> Cc: "etherlab- [email protected]"<[email protected]> Ogg: Re: [etherlab- users] R: SDO stress This is probably a useless aside, but what servo drive are you using? I have nothing but problems with SDO reads and writes on the Kollmorgen AKD drive, regardless of the EtherCAT master used. If I don't space them out by 100ms or so, the drive gives inconsistent responses. I've spent a year trying to improve the situation, but to no avail. My plan is to use the EtherCAT master as the controller so I can avoid SDO usage with the drive. Thomas C. Bitsky Jr. | Lead Developer ADC | automateddesign.com P: 630-783-1150 F: 630-783-1159 M: 630-632-6679 On Thu, May 23, 2013 at 5:10 AM, [email protected] < [email protected]> wrote: > > > Hello, > I've been struggling with Sdo write since 3 mounths without a > solution up to now. > I wrote a stress test which writes and reads what > written on three Sdo for three Servos in a preemptive real time loop: > > after some hours of work the application hangs and the ethercat master > shows a download/upload Sdo Timeout error problem. > I've checked that > only one read or one write takes place at a time, for example: > start > write SDO1 for first servo > end write SDO1 for first servo > start read > SDO1 for first servo > end read SDO1 for first servo > start write SDO2 for > first servo > end write SDO2 for first servo > start read SDO2 for first > servo > end read SDO2 for first servo > ... > start write SDO1 for second > servo > end write SDO1 for second servo > start read SDO1 for second servo > > end read SDO1 for second servo > start write SDO2 for second servo > end > write SDO2 for second servo > start read SDO2 for second servo > end read > SDO2 for second servo > .... > So each write doesn't overlap each read for > each servo. > As far as I know managing Sdo inside real time loop is not > reliable: I mean it usually works, but for a software which manages > Servos is not enough. > If someone has advices or suggestions is welcome. > > Best Regards, Luca Paluan > > ----Messaggio originale---- > Da: > [email protected] > Data: 22/05/2013 13.36 > A: "etherlab-users@etherlab. > org"<[email protected]> > Ogg: [etherlab-users] SDO stress > > Hey > > > I have been tracking the following problem: > I generate bulk of sdo > reads and sdo writes ( upload / downloads). after some time the sdo > read > hangs. I made a capture with tcpdump and noticed that the > failure lies in etherlab. it appears that > after some time etherlab > does not try to send a mail box response read from the mailbox, even > though > the slave "said" he has the data available ( by replying to read > request). > Why this bug fixed ? > > thank you > raz > > > _______________________________________________ > etherlab-users mailing > list > [email protected] > http://lists.etherlab. > org/mailman/listinfo/etherlab-users > > > > > Senza L’IMU il mercato immobiliare potrebbe riprendersi. Inizia ora la > ricerca della tua Casa! http://tiscali.casa.it/vendita?partner=Tiscali > _______________________________________________ > etherlab-users mailing list > [email protected] > http://lists.etherlab. org/mailman/listinfo/etherlab-users > Senza L’IMU il mercato immobiliare potrebbe riprendersi. Inizia ora la ricerca della tua Casa! http://tiscali.casa.it/vendita?partner=Tiscali _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
