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<P><FONT SIZE=2>The STO state in workbench shows a green light. The drive never displays any sort of fault or warning message in workbench (or in fault codes on the front of the drive) during this process.<BR>
<BR>
Thanks,<BR>
<BR>
Alyssa Wells<BR>
Automation Technician<BR>
Custom-Pak, Inc.<BR>
www.custom-pak.com<BR>
<BR>
<BR>
<BR>
-----Original Message-----<BR>
From: Dusty Clark [<A HREF="mailto:springender@gmail.com">mailto:springender@gmail.com</A>]<BR>
Sent: Thu 5/12/2016 12:36 PM<BR>
To: Alyssa Wells<BR>
Cc: Sebastien Blanchet; etherlab-users@etherlab.org<BR>
Subject: Re: [etherlab-users] [BULK] Re: SDO transfer aborted<BR>
<BR>
Just a quick thought, seeing this...is the unit in safe-torque-off state<BR>
(STO)? In other words, do you have the hardware enables connected up as<BR>
shown in the minimum connections diagram in the quick start booklet?<BR>
<BR>
Alternatively, if you have a Windows machine available you can always start<BR>
up Kollmorgen Workbench and poke around to see what sort of error it<BR>
reports.<BR>
<BR>
<BR>
<BR>
On Thu, May 12, 2016 at 10:27 AM, Alyssa Wells <Alyssa.Wells@custom-pak.com><BR>
wrote:<BR>
<BR>
> Commands with output:<BR>
> $sudo ./akd_torque<BR>
> Configuring AKD with flexible PDO...<BR>
> Configuring PDOs...<BR>
> Activating master...<BR>
> Started.<BR>
> AKD: actual velocity = 0.0 rpm<BR>
> AKD: actual velocity = 0.0 rpm<BR>
> AKD: actual velocity = 0.0 rpm<BR>
> AKD: actual velocity = 0.0 rpm<BR>
> AKD: actual velocity = 0.0 rpm<BR>
> AKD: actual velocity = 0.0 rpm<BR>
> AKD: actual velocity = 0.0 rpm<BR>
> AKD: actual velocity = 0.0 rpm<BR>
> AKD: actual velocity = 0.0 rpm<BR>
> AKD: actual velocity = 0.0 rpm<BR>
> AKD: actual velocity = 0.0 rpm<BR>
><BR>
> $sudo dmesg -c<BR>
> [ 587.437348] EtherCAT: Requesting master 0...<BR>
> [ 587.437366] EtherCAT: Successfully requested master 0.<BR>
> [ 587.437802] EtherCAT 0: Domain0: Logical address 0x00000000, 10 byte,<BR>
> expected working counter 3.<BR>
> [ 587.437817] EtherCAT 0: Datagram domain0-0-main: Logical offset<BR>
> 0x00000000, 10 byte, type LRW.<BR>
> [ 587.437900] EtherCAT 0: Master thread exited.<BR>
> [ 587.437917] EtherCAT 0: Starting EtherCAT-OP thread.<BR>
> [ 587.438163] EtherCAT WARNING 0: 1 datagram UNMATCHED!<BR>
> [ 587.440307] EtherCAT WARNING 0: No app_time received up to now, but<BR>
> master already active.<BR>
> [ 587.477094] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave<BR>
> refused state change (PREOP + ERROR).<BR>
> [ 587.479131] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid<BR>
> output configuration".<BR>
> [ 587.483235] EtherCAT 0-0: Acknowledged state PREOP.<BR>
><BR>
> After seeing the ERROR 0-0: Failed to set SAFEOP state, slave refused<BR>
> state change (PREOP + ERROR) message, I checked the drive for faults and<BR>
> found none that needed to be reset.<BR>
><BR>
><BR>
> Thanks,<BR>
> Alyssa Wells<BR>
><BR>
><BR>
><BR>
> -----Original Message-----<BR>
> From: Sebastien Blanchet [<A HREF="mailto:blanchet@iram.fr">mailto:blanchet@iram.fr</A> <blanchet@iram.fr>]<BR>
> Sent: Thu 5/12/2016 11:02 AM<BR>
> To: Alyssa Wells; etherlab-users@etherlab.org<BR>
> Subject: [BULK] Re: [etherlab-users] SDO transfer aborted<BR>
><BR>
> Hi,<BR>
><BR>
> Indeed it should be moving.<BR>
><BR>
> Try to run the torque example (it is easier), without any modification<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>
><BR>
> Send me back:<BR>
> - the console output<BR>
> - the kernel message (with 'dmesg' )<BR>
><BR>
> so that I can compare with my results and then try to understand that is<BR>
> wrong.<BR>
><BR>
> regards,<BR>
> --<BR>
> Sebastien BLANCHET<BR>
><BR>
><BR>
> On 05/12/2016 04:01 PM, Alyssa Wells wrote:<BR>
> > Sebastien,<BR>
> ><BR>
> > Thank you for the help and resources! I'm working my way through your<BR>
> examples<BR>
> > now, trying to understand the sequence of events completely so I can<BR>
> follow it<BR>
> > for my application.<BR>
> > I tried running the profile velocity example and the cyclic sync position<BR>
> > example with no movement. It appears to be communicating with the drive<BR>
> just<BR>
> > fine, it reports back actual velocity/position as 0 every scan, but it<BR>
> doesn't<BR>
> > enable the drive or move it at all. Is that by design, or should it be<BR>
> moving?<BR>
> > I feel like I'm getting close to making this work, but I feel like I'm<BR>
> missing<BR>
> > something or overcomplicating something in the process that's messing me<BR>
> up. If<BR>
> > 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> <blanchet@iram.fr>]<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<BR>
> 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<BR>
> Mappings" in<BR>
> ><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<BR>
> line 10 (had<BR>
> > > the wrong type there, uint32 instead of uint8)<BR>
> > > I got those commands from this guide on Interpolated Position from<BR>
> Kollmorgen<BR>
> > ><BR>
> > (<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>
> )<BR>
> > > and I don't fully understand why their example uses the commands that<BR>
> it does,<BR>
> > > versus your examples.<BR>
> > > A more specific example of this is the line 3 that I added to my<BR>
> script is<BR>
> > > something you use in your examples, but KM does not use. What exactly<BR>
> does that<BR>
> > > line achieve and why is it better than the KM method? (Aside from the<BR>
> 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> <blanchet@iram.fr>]<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>
> > ><BR>
> ><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<BR>
> 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<BR>
> quite a<BR>
> > bit of<BR>
> > > > success. When I try to set up some of the PDOs, I get an error<BR>
> 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<BR>
> mapped into<BR>
> > > the PDO<BR>
> > > ><BR>
> > > > (any subsequent times it is run)<BR>
> > > > SDO transfer aborted with code 0x08000022: Data cannot be<BR>
> transferred or<BR>
> > 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<BR>
> really<BR>
> > 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>
> > ><BR>
> ><BR>
><BR>
><BR>
> --<BR>
> Sebastien BLANCHET<BR>
> Head of Computer Group -- IRAM<BR>
><BR>
> Institut de Radio Astronomie Millimetrique<BR>
> 300 rue de la Piscine<BR>
> Domaine Universitaire de Grenoble<BR>
> 38406 Saint Martin D'Heres<BR>
> FRANCE<BR>
><BR>
><BR>
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