Hi,
This KM guide for Interpolated Position is for CANOpen only. For EtherCAT CoE,
SDO 0x1c12 and 0x1c13 must be set, otherwise it does not work.
SDO 0x1c12 and 0x1c13 are used to assign PDO to the Sync Manager.
My example is based on the TwinCAT example from the Kollmorgen EtherCAT
documentation. See the startup-SDO-list in section 4.6.1 "Flexible PDO Mappings" in
http://www.kollmorgen.com/uploadedFiles/Products/Drives/AC_Servo_Drives/AKD/AKD_Manuals/903-200005-00%20AKD_EtherCat_en%20Rev%20E.pdf
regards,
--
Sebastien BLANCHET
On 05/10/2016 03:17 PM, Alyssa Wells wrote:
Firmware: M_01-13-00-004
Shell script attached that now works! I added line 3 and adjusted line 10 (had
the wrong type there, uint32 instead of uint8)
I got those commands from this guide on Interpolated Position from Kollmorgen
(http://kdn.kollmorgen.com/sites/default/files/AKD%20CanOpen%20DS402%20PDO%20Interpolated%20position.pdf)
and I don't fully understand why their example uses the commands that it does,
versus your examples.
A more specific example of this is the line 3 that I added to my script is
something you use in your examples, but KM does not use. What exactly does that
line achieve and why is it better than the KM method? (Aside from the obvious
fact that it works and their way doesn't)
Thanks,
Alyssa Wells
-----Original Message-----
From: Sebastien Blanchet [mailto:[email protected]]
Sent: Tue 5/10/2016 8:05 AM
To: Alyssa Wells; [email protected]
Subject: Re: [etherlab-users] SDO transfer aborted
Hi,
Could you please send
- the full listing of your PDOs configuration
- the firmware version of your AKD servo drive
Ideally I would like a shell script like this
http://lists.etherlab.org/pipermail/etherlab-users/attachments/20120413/b83b76d4/attachment.bin
so that I can easily replay the configuration sequence
regards,
--
Sebastien BLANCHET
For your information, I have already posted some examples for Kollmorgen AKD,
that may help you.
http://lists.etherlab.org/pipermail/etherlab-users/2012/001684.html
http://lists.etherlab.org/pipermail/etherlab-users/2015/002724.html
http://lists.etherlab.org/pipermail/etherlab-users/2015/002698.html
http://lists.etherlab.org/pipermail/etherlab-users/2015/002723.html
On 05/09/2016 04:37 PM, Alyssa Wells wrote:
> Using the EtherCAT Master to talk to a Kollmorgen AKD drive with quite a bit
of
> success. When I try to set up some of the PDOs, I get an error message.
>
> This command:
> sudo ethercat -p0 -t uint32 download 0x1602 1 0x60400010
>
> Produces the following errors:
>
> (the first time it is run)
> SDO transfer aborted with code 0x06040041: The object cannot be mapped into
the PDO
>
> (any subsequent times it is run)
> SDO transfer aborted with code 0x08000022: Data cannot be transferred or
stored
> to the application because of the present device state
>
> If anyone has any insight into why this is happening, I would really
appreciate
> the input. Thanks!
>
>
> Alyssa Wells
> Automation Technician
> Custom-Pak, Inc.
> www.custom-pak.com
>
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