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<DIV>Hi all:</DIV>
<DIV style="TEXT-INDENT: 4em">
<DIV>I'm running EtherCAT Master driver 1.5.2 and I'm having problems
communicating with the omron servo.Problems as below:</DIV>
<DIV></DIV>
<DIV>[ 4206.738333] EtherCAT ERROR 0-0: SDO download 0x1701:00 (1 bytes)
aborted.</DIV>
<DIV>[ 4206.738346] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt
to write a read-only object".</DIV>
<DIV>[ 4206.738354] EtherCAT WARNING 0-0: Failed to clear PDO mapping.</DIV>
<DIV>[ 4206.738360] EtherCAT WARNING 0-0: Currently mapped PDO entries:
0x6040:00/16 0x607A:00/32 0x60B8:00/16 0x60FE:01/32. Entries to map:
0x6040:00/16 0x607A:00/32 0x60B8:00/16 0x60FE:01/32</DIV>
<DIV>[ 4206.738400] EtherCAT WARNING 0-0: Failed to configure mapping of PDO
0x1701.</DIV>
<DIV>[ 4206.968302] EtherCAT ERROR 0-0: SDO download 0x1B01:00 (1 bytes)
aborted.</DIV>
<DIV>[ 4206.968312] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt
to write a read-only object".</DIV>
<DIV></DIV>
<DIV>And I can read the TxPDO mapping using command-line and it's here:</DIV>
<DIV></DIV>
<DIV>SDO 0x1701, "258th receive PDO Mapping"</DIV>
<DIV>0x1701:00, r-r-r-, uint8, 8 bit, "258th receive PDO Mapping"</DIV>
<DIV>0x1701:01, r-r-r-, uint32, 32 bit, "1st Output Object to be mapped"</DIV>
<DIV>0x1701:02, r-r-r-, uint32, 32 bit, "2nd Output Object to be mapped"</DIV>
<DIV>0x1701:03, r-r-r-, uint32, 32 bit, "3rd Output Object to be mapped"</DIV>
<DIV>0x1701:04, r-r-r-, uint32, 32 bit, "4th Output Object to be mapped"</DIV>
<DIV></DIV>
<DIV>And the attachment is the pdo config file.Do you know what the reason is of
this?</DIV>
<DIV> </DIV>
<DIV>I use the command-line ethercat pdos get the pdo entry it's here:</DIV>
<DIV>
<DIV>SM0: PhysAddr 0x1800, DefaultSize 256, ControlRegister 0x26, Enable 1</DIV>
<DIV>SM1: PhysAddr 0x1c00, DefaultSize 256, ControlRegister 0x22, Enable 1</DIV>
<DIV>SM2: PhysAddr 0x1100, DefaultSize 12, ControlRegister 0x64, Enable 1</DIV>
<DIV> RxPDO 0x1701 "258th receive PDO Mapping"</DIV>
<DIV> PDO entry 0x6040:00, 16 bit, "Controlword"</DIV>
<DIV> PDO entry 0x607a:00, 32 bit, "Target position"</DIV>
<DIV> PDO entry 0x60b8:00, 16 bit, "Touch probe function"</DIV>
<DIV> PDO entry 0x60fe:01, 32 bit, "Physical outputs"</DIV>
<DIV>SM3: PhysAddr 0x1200, DefaultSize 28, ControlRegister 0x22, Enable 1</DIV>
<DIV> TxPDO 0x1b01 "258th transmit PDO Mapping"</DIV>
<DIV> PDO entry 0x603f:00, 16 bit, "Error code"</DIV>
<DIV> PDO entry 0x6041:00, 16 bit, "Statusword"</DIV>
<DIV> PDO entry 0x6064:00, 32 bit, "Position actual value"</DIV>
<DIV> PDO entry 0x6077:00, 16 bit, "Torque actual value"</DIV>
<DIV> PDO entry 0x60f4:00, 32 bit, "Following error actual value"</DIV>
<DIV> PDO entry 0x60b9:00, 16 bit, "Touch probe status"</DIV>
<DIV> PDO entry 0x60ba:00, 32 bit, "Touch probe pos1 pos value"</DIV>
<DIV> PDO entry 0x60bc:00, 32 bit, "Touch probe pos2 pos value"</DIV>
<DIV> PDO entry 0x60fd:00, 32 bit, "Digital inputs"</DIV>
<DIV> </DIV></DIV>
<DIV></DIV>
<DIV>Thanks a lot,</DIV>
<DIV>Wen</DIV></DIV>
<DIV> </DIV>
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