[etherlab-users] problems of configuring pdos and sdos

[wenlinuxg]

Hi all:
I'm running EtherCAT Master driver 1.5.2 and I'm having problems communicating with the omron servo.Problems as below:
[ 4206.738333] EtherCAT ERROR 0-0: SDO download 0x1701:00 (1 bytes) aborted.
[ 4206.738346] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 4206.738354] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 4206.738360] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32 0x60B8:00/16 0x60FE:01/32. Entries to map: 0x6040:00/16 0x607A:00/32 0x60B8:00/16 0x60FE:01/32
[ 4206.738400] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1701.
[ 4206.968302] EtherCAT ERROR 0-0: SDO download 0x1B01:00 (1 bytes) aborted.
[ 4206.968312] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
And I can read the TxPDO mapping using command-line and it's here:
SDO 0x1701, "258th receive PDO Mapping"
0x1701:00, r-r-r-, uint8, 8 bit, "258th receive PDO Mapping"
0x1701:01, r-r-r-, uint32, 32 bit, "1st Output Object to be mapped"
0x1701:02, r-r-r-, uint32, 32 bit, "2nd Output Object to be mapped"
0x1701:03, r-r-r-, uint32, 32 bit, "3rd Output Object to be mapped"
0x1701:04, r-r-r-, uint32, 32 bit, "4th Output Object to be mapped"
And the attachment is the pdo config file.Do you know what the reason is of this?

I use the command-line ethercat pdos get the pdo entry it's here:
SM0: PhysAddr 0x1800, DefaultSize  256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1c00, DefaultSize  256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize   12, ControlRegister 0x64, Enable 1
  RxPDO 0x1701 "258th receive PDO Mapping"
    PDO entry 0x6040:00, 16 bit, "Controlword"
    PDO entry 0x607a:00, 32 bit, "Target position"
    PDO entry 0x60b8:00, 16 bit, "Touch probe function"
    PDO entry 0x60fe:01, 32 bit, "Physical outputs"
SM3: PhysAddr 0x1200, DefaultSize   28, ControlRegister 0x22, Enable 1
  TxPDO 0x1b01 "258th transmit PDO Mapping"
    PDO entry 0x603f:00, 16 bit, "Error code"
    PDO entry 0x6041:00, 16 bit, "Statusword"
    PDO entry 0x6064:00, 32 bit, "Position actual value"
    PDO entry 0x6077:00, 16 bit, "Torque actual value"
    PDO entry 0x60f4:00, 32 bit, "Following error actual value"
    PDO entry 0x60b9:00, 16 bit, "Touch probe status"
    PDO entry 0x60ba:00, 32 bit, "Touch probe pos1 pos value"
    PDO entry 0x60bc:00, 32 bit, "Touch probe pos2 pos value"
    PDO entry 0x60fd:00, 32 bit, "Digital inputs"

Thanks a lot,
Wen




wenlinuxg
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