[etherlab-users] Slave state changing from SAFEOP to OP

[Ian Norton]

Hi Ulf,

There is an issue with the S series drives. Firstly, they pronounce they are ready before they really are. This can cause problems in the master when it tries to get the slave PDO config. It will revert to what is in the e2 memory which isn't always the same as the device. You should remove the PDO config from the e2, or wait for the drive to fully come up before starting the master.

Secondly, the drive defaults to synchronous mode! This needs you to set up DC's, define the access frequency and keep to it!

There is a magic SDO to put it into asynchronous mode ie

ecrt_slave_config_sdo32(sc,0x3691,1,0x20000);

regards
Ian

-----Original Message-----
From: etherlab-users-bounces at etherlab.org
[mailto:etherlab-users-bounces at etherlab.org]On Behalf Of Ulf Stelbe
Sent: 21 April 2010 13:40
To: etherlab-users at etherlab.org
Subject: [etherlab-users] Slave state changing from SAFEOP to OP


Hello,

I use the user sample to get a S700 servo drive running. Initialization is
done well and the cyclic task is performed. But the slave keeps in SAFEOP
state. What to do to get it into OP? The servo manual states: The amplifier
goes into OP after succesful sync and the sync warning n17 (I get this
warning) is cleared. If not, the sync error F28 is set (I get this after a
short time). 

What do I do wrong? The slave should go into OP automatically after sync
with the master, right?

Any help is appreciated!

Thanks in advance

Ulf Stelbe

______________________________________________
OTLO VR Systeme GmbH
Zelckstraße 13, 18055 Rostock
Email: ulf.stelbe at otlo.de
Web  : www.otlo.de
Tel. : +49 381 44 03 59 30
Fax. : +49 381 44 44 232
Amtsgericht Rostock, HRB 8874
GF: Ulf Stelbe, Dr.-Ing. Nico Günther

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