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<TITLE>RE: [etherlab-users] SDO transfer aborted</TITLE>
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<P><FONT SIZE=2>Sebastien,<BR>
<BR>
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.<BR>
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?<BR>
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.<BR>
<BR>
Thanks!<BR>
Alyssa Wells<BR>
<BR>
<BR>
-----Original Message-----<BR>
From: Sebastien Blanchet [<A HREF="mailto:blanchet@iram.fr">mailto:blanchet@iram.fr</A>]<BR>
Sent: Tue 5/10/2016 11:15 AM<BR>
To: Alyssa Wells; etherlab-users@etherlab.org<BR>
Subject: Re: [etherlab-users] SDO transfer aborted<BR>
<BR>
Hi,<BR>
<BR>
This KM guide for Interpolated Position is for CANOpen only. For EtherCAT CoE,<BR>
SDO 0x1c12 and 0x1c13 must be set, otherwise it does not work.<BR>
<BR>
SDO 0x1c12 and 0x1c13 are used to assign PDO to the Sync Manager.<BR>
<BR>
My example is based on the TwinCAT example from the Kollmorgen EtherCAT<BR>
documentation. See the startup-SDO-list in section 4.6.1 "Flexible PDO Mappings" in<BR>
<A HREF="http://www.kollmorgen.com/uploadedFiles/Products/Drives/AC_Servo_Drives/AKD/AKD_Manuals/903-200005-00%20AKD_EtherCat_en%20Rev%20E.pdf">http://www.kollmorgen.com/uploadedFiles/Products/Drives/AC_Servo_Drives/AKD/AKD_Manuals/903-200005-00%20AKD_EtherCat_en%20Rev%20E.pdf</A><BR>
<BR>
<BR>
regards,<BR>
--<BR>
Sebastien BLANCHET<BR>
<BR>
<BR>
On 05/10/2016 03:17 PM, Alyssa Wells wrote:<BR>
> Firmware: M_01-13-00-004<BR>
> Shell script attached that now works! I added line 3 and adjusted line 10 (had<BR>
> the wrong type there, uint32 instead of uint8)<BR>
> I got those commands from this guide on Interpolated Position from Kollmorgen<BR>
> (<A HREF="http://kdn.kollmorgen.com/sites/default/files/AKD%20CanOpen%20DS402%20PDO%20Interpolated%20position.pdf">http://kdn.kollmorgen.com/sites/default/files/AKD%20CanOpen%20DS402%20PDO%20Interpolated%20position.pdf</A>)<BR>
> and I don't fully understand why their example uses the commands that it does,<BR>
> versus your examples.<BR>
> A more specific example of this is the line 3 that I added to my script is<BR>
> something you use in your examples, but KM does not use. What exactly does that<BR>
> line achieve and why is it better than the KM method? (Aside from the obvious<BR>
> fact that it works and their way doesn't)<BR>
><BR>
><BR>
> Thanks,<BR>
><BR>
> Alyssa Wells<BR>
><BR>
><BR>
><BR>
> -----Original Message-----<BR>
> From: Sebastien Blanchet [<A HREF="mailto:blanchet@iram.fr">mailto:blanchet@iram.fr</A>]<BR>
> Sent: Tue 5/10/2016 8:05 AM<BR>
> To: Alyssa Wells; etherlab-users@etherlab.org<BR>
> Subject: Re: [etherlab-users] SDO transfer aborted<BR>
><BR>
> Hi,<BR>
><BR>
> Could you please send<BR>
> - the full listing of your PDOs configuration<BR>
> - the firmware version of your AKD servo drive<BR>
><BR>
> Ideally I would like a shell script like this<BR>
> <A HREF="http://lists.etherlab.org/pipermail/etherlab-users/attachments/20120413/b83b76d4/attachment.bin">http://lists.etherlab.org/pipermail/etherlab-users/attachments/20120413/b83b76d4/attachment.bin</A><BR>
> so that I can easily replay the configuration sequence<BR>
><BR>
> regards,<BR>
> --<BR>
> Sebastien BLANCHET<BR>
><BR>
><BR>
> For your information, I have already posted some examples for Kollmorgen AKD,<BR>
> that may help you.<BR>
> <A HREF="http://lists.etherlab.org/pipermail/etherlab-users/2012/001684.html">http://lists.etherlab.org/pipermail/etherlab-users/2012/001684.html</A><BR>
> <A HREF="http://lists.etherlab.org/pipermail/etherlab-users/2015/002724.html">http://lists.etherlab.org/pipermail/etherlab-users/2015/002724.html</A><BR>
> <A HREF="http://lists.etherlab.org/pipermail/etherlab-users/2015/002698.html">http://lists.etherlab.org/pipermail/etherlab-users/2015/002698.html</A><BR>
> <A HREF="http://lists.etherlab.org/pipermail/etherlab-users/2015/002723.html">http://lists.etherlab.org/pipermail/etherlab-users/2015/002723.html</A><BR>
><BR>
><BR>
><BR>
> On 05/09/2016 04:37 PM, Alyssa Wells wrote:<BR>
> > Using the EtherCAT Master to talk to a Kollmorgen AKD drive with quite a bit of<BR>
> > success. When I try to set up some of the PDOs, I get an error message.<BR>
> ><BR>
> > This command:<BR>
> > sudo ethercat -p0 -t uint32 download 0x1602 1 0x60400010<BR>
> ><BR>
> > Produces the following errors:<BR>
> ><BR>
> > (the first time it is run)<BR>
> > SDO transfer aborted with code 0x06040041: The object cannot be mapped into<BR>
> the PDO<BR>
> ><BR>
> > (any subsequent times it is run)<BR>
> > SDO transfer aborted with code 0x08000022: Data cannot be transferred or stored<BR>
> > to the application because of the present device state<BR>
> ><BR>
> > If anyone has any insight into why this is happening, I would really appreciate<BR>
> > the input. Thanks!<BR>
> ><BR>
> ><BR>
> > Alyssa Wells<BR>
> > Automation Technician<BR>
> > Custom-Pak, Inc.<BR>
> > www.custom-pak.com<BR>
> ><BR>
><BR>
></FONT>
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