Commands with output: $sudo ./akd_torque Configuring AKD with flexible PDO... Configuring PDOs... Activating master... Started. AKD: actual velocity = 0.0 rpm AKD: actual velocity = 0.0 rpm AKD: actual velocity = 0.0 rpm AKD: actual velocity = 0.0 rpm AKD: actual velocity = 0.0 rpm AKD: actual velocity = 0.0 rpm AKD: actual velocity = 0.0 rpm AKD: actual velocity = 0.0 rpm AKD: actual velocity = 0.0 rpm AKD: actual velocity = 0.0 rpm AKD: actual velocity = 0.0 rpm
$sudo dmesg -c [ 587.437348] EtherCAT: Requesting master 0... [ 587.437366] EtherCAT: Successfully requested master 0. [ 587.437802] EtherCAT 0: Domain0: Logical address 0x00000000, 10 byte, expected working counter 3. [ 587.437817] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 10 byte, type LRW. [ 587.437900] EtherCAT 0: Master thread exited. [ 587.437917] EtherCAT 0: Starting EtherCAT-OP thread. [ 587.438163] EtherCAT WARNING 0: 1 datagram UNMATCHED! [ 587.440307] EtherCAT WARNING 0: No app_time received up to now, but master already active. [ 587.477094] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR). [ 587.479131] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid output configuration". [ 587.483235] EtherCAT 0-0: Acknowledged state PREOP. After seeing the ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR) message, I checked the drive for faults and found none that needed to be reset. Thanks, Alyssa Wells -----Original Message----- From: Sebastien Blanchet [mailto:[email protected]] Sent: Thu 5/12/2016 11:02 AM To: Alyssa Wells; [email protected] Subject: [BULK] Re: [etherlab-users] SDO transfer aborted Hi, Indeed it should be moving. Try to run the torque example (it is easier), without any modification http://lists.etherlab.org/pipermail/etherlab-users/2015/002698.html Send me back: - the console output - the kernel message (with 'dmesg' ) so that I can compare with my results and then try to understand that is wrong. regards, -- Sebastien BLANCHET On 05/12/2016 04:01 PM, Alyssa Wells wrote: > Sebastien, > > Thank you for the help and resources! I'm working my way through your examples > now, trying to understand the sequence of events completely so I can follow it > for my application. > I tried running the profile velocity example and the cyclic sync position > example with no movement. It appears to be communicating with the drive just > fine, it reports back actual velocity/position as 0 every scan, but it doesn't > enable the drive or move it at all. Is that by design, or should it be moving? > I feel like I'm getting close to making this work, but I feel like I'm missing > something or overcomplicating something in the process that's messing me up. > If > you have time, I'd appreciate any insight you can offer. > > Thanks! > Alyssa Wells > > > -----Original Message----- > From: Sebastien Blanchet [mailto:[email protected]] > Sent: Tue 5/10/2016 11:15 AM > To: Alyssa Wells; [email protected] > Subject: Re: [etherlab-users] SDO transfer aborted > > 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 > > > > > > > > -- Sebastien BLANCHET Head of Computer Group -- IRAM Institut de Radio Astronomie Millimetrique 300 rue de la Piscine Domaine Universitaire de Grenoble 38406 Saint Martin D'Heres FRANCE
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