<div dir="ltr">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?<div><br></div><div>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.</div><div><br></div><div><br></div></div><div class="gmail_extra"><br><div class="gmail_quote">On Thu, May 12, 2016 at 10:27 AM, Alyssa Wells <span dir="ltr"><<a href="mailto:Alyssa.Wells@custom-pak.com" target="_blank">Alyssa.Wells@custom-pak.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><u></u>
<div>
<p><font size="2">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, expected working counter 3.<br>
[ 587.437817] EtherCAT 0: Datagram domain0-0-main: Logical offset 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 master already active.<br>
[ 587.477094] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).<br>
[ 587.479131] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid 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 state change (PREOP + ERROR) message, I checked the drive for faults and found none that needed to be reset.<span class=""><br>
<br>
<br>
Thanks,<br>
Alyssa Wells<br>
<br>
<br>
<br>
-----Original Message-----<br>
From: Sebastien Blanchet [<a href="mailto:blanchet@iram.fr" target="_blank">mailto:blanchet@iram.fr</a>]<br></span><span class="">
Sent: Thu 5/12/2016 11:02 AM<br>
To: Alyssa Wells; <a href="mailto:etherlab-users@etherlab.org" target="_blank">etherlab-users@etherlab.org</a><br></span></font></p><div><div class="h5"><font size="2">
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" target="_blank">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 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 examples<br>
> now, trying to understand the sequence of events completely so I can 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 just<br>
> fine, it reports back actual velocity/position as 0 every scan, but it doesn't<br>
> 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<br>
> something or overcomplicating something in the process that's messing me 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" target="_blank">mailto:blanchet@iram.fr</a>]<br>
> Sent: Tue 5/10/2016 11:15 AM<br>
> To: Alyssa Wells; <a href="mailto:etherlab-users@etherlab.org" target="_blank">etherlab-users@etherlab.org</a><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" target="_blank">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>
> ><br>
> (<a href="http://kdn.kollmorgen.com/sites/default/files/AKD%20CanOpen%20DS402%20PDO%20Interpolated%20position.pdf" target="_blank">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" target="_blank">mailto:blanchet@iram.fr</a>]<br>
> > Sent: Tue 5/10/2016 8:05 AM<br>
> > To: Alyssa Wells; <a href="mailto:etherlab-users@etherlab.org" target="_blank">etherlab-users@etherlab.org</a><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>
> <a href="http://lists.etherlab.org/pipermail/etherlab-users/attachments/20120413/b83b76d4/attachment.bin" target="_blank">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" target="_blank">http://lists.etherlab.org/pipermail/etherlab-users/2012/001684.html</a><br>
> > <a href="http://lists.etherlab.org/pipermail/etherlab-users/2015/002724.html" target="_blank">http://lists.etherlab.org/pipermail/etherlab-users/2015/002724.html</a><br>
> > <a href="http://lists.etherlab.org/pipermail/etherlab-users/2015/002698.html" target="_blank">http://lists.etherlab.org/pipermail/etherlab-users/2015/002698.html</a><br>
> > <a href="http://lists.etherlab.org/pipermail/etherlab-users/2015/002723.html" target="_blank">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<br>
> 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<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 really<br>
> appreciate<br>
> > > the input. Thanks!<br>
> > ><br>
> > ><br>
> > > Alyssa Wells<br>
> > > Automation Technician<br>
> > > Custom-Pak, Inc.<br>
> > > <a href="http://www.custom-pak.com" target="_blank">www.custom-pak.com</a><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>
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