Just a quick thought, seeing this...is the unit in safe-torque-off state (STO)? In other words, do you have the hardware enables connected up as shown in the minimum connections diagram in the quick start booklet?
Alternatively, if you have a Windows machine available you can always start up Kollmorgen Workbench and poke around to see what sort of error it reports. On Thu, May 12, 2016 at 10:27 AM, Alyssa Wells <[email protected]> wrote: > 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] <[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] <[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] <[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 > > > _______________________________________________ > etherlab-users mailing list > [email protected] > http://lists.etherlab.org/mailman/listinfo/etherlab-users > >
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