[etherlab-users] Unknown SDO abort code 0x08000004 and swapped index and value with drive Kollmorgen AKD

[Sebastien Blanchet]

Hi,

I am trying to configure PDO on a Kollmorgen AKD drive.
So I send SDO requests to the drive, but in return I have a strange message from 
ethercat master.

These are my commands:
$ ethercat -p4 --type uint8  download 0x1C12 0 0
$ ethercat -p4 --type uint16 download 0x1C12 1 0x1701
$ ethercat -p4 --type uint8  download 0x1C12 0 1
$ ethercat -p4 --type uint8  download 0x1C13 0 0
$ ethercat -p4 --type uint16 download 0x1C13 1 0x1B01
$ ethercat -p4 --type uint8  download 0x1C13 0 1
$ ethercat rescan

These are the error messages, that appear only after the rescan.

$ dmesg
[27111.952217] EtherCAT 0: Scanning bus.
[27112.261848] EtherCAT ERROR 0-4: SDO upload 0x1701:00 aborted.
[27112.261851] EtherCAT ERROR 0-4: Unknown SDO abort code 0x08000004.
[27112.261853] EtherCAT ERROR 0-4: Failed to read number of mapped PDO entries.
[27112.261855] EtherCAT ERROR 0-4: Failed to read mapped PDO entries for PDO 0x1701.
[27112.265640] EtherCAT ERROR 0-4: SDO upload 0x1B01:00 aborted.
[27112.265642] EtherCAT ERROR 0-4: Unknown SDO abort code 0x08000004.
[27112.265643] EtherCAT ERROR 0-4: Failed to read number of mapped PDO entries.
[27112.265645] EtherCAT ERROR 0-4: Failed to read mapped PDO entries for PDO 0x1B01.
[27112.265647] EtherCAT 0: Bus scanning completed in 312 ms.

Indeed, it seems that the request index and request value are swapped,
and the abort code is unknown.

On the other hand, for pairs (index,subindex) that are not related to the PDO 
mapping, I have no error messages, it seems to work normally.

I have tried with both master 1.5.1 and devel version and there is no 
difference. I use Debian 6.0 with standard kernel 2.6.32-5-686-bigmem and the 
ec_8139too driver.

What should I do to know if the problem is in the ethercat master or in the 
Kollmorgen AKD drive ?

Best regards

---
sebastien