[etherlab-users] PDO Registration failed

[Henry Bausley]

We have used this drive in velocity and position mode using the fixed
PDO's see my config below. Have you tried contacting Kollmorgen and do
you have the latest firmware?

/* Master 0, Slave 0, "AKD"
 * Vendor ID:       0x0000006a
 * Product code:    0x00414b44
 * Revision number: 0x00000002
 */

ec_pdo_entry_info_t slave_0_pdo_entries[] = {
    {0x607a, 0x00, 32},
    {0x6040, 0x00, 16},
    {0x6064, 0x00, 32},
    {0x6041, 0x00, 16},
};

ec_pdo_info_t slave_0_pdos[] = {
    {0x1724, 2, slave_0_pdo_entries + 0},
    {0x1b24, 2, slave_0_pdo_entries + 2},
};

ec_sync_info_t slave_0_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_DISABLE},
    {3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
    {0xff}
};

 



On Tue, 2011-07-26 at 16:38 -0400, Holly wrote:
> 
> 
> I have tried changing the definition to 
>  
> I think the problem is with your domain1_regs. It should be like:
> 
> const static ec_pdo_entry_reg_t domain1_regs[] = {
>   {0, 0, AKD_ID, 0x1600, 0, &akd_out },  //0x1600
>   {0, 0, AKD_ID, 0x1A00, 0, &akd_in },  //0x1A00
>   {}
> };
> 
> 
> with no success. 
>  
>  
> Without calling ecrt_domain_reg_pdo_entry_list I can use the ethercat
> config -v command 
> and see the free mapped PDO's. The ethercat pdos -v command tool
> reports nothing.
>  
> I have seen a few threads indicating that the SII interface is
> incomplete for certain servo drives?
>  
> I am currently trying to use a Kollmorgen AKD. The TwinCAT software
> appears be able to free map the PDO's. 
>  
> I have been provided with the latest XML file and have tried using
> TwinCAT to write new SII contents to the EEPROM.    
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