[etherlab-users] trouble mapping a PDO for a Kollmorgen AKD

[Jun Yuan]

You gave the wrong number of ec_pdo_info_t. You used 2 (0x1a00 and
0x1a01) instead of 1.

ec_sync_info_t akd_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, akd_pdos + 0, EC_WD_DISABLE},
-   {3, EC_DIR_INPUT, 1, akd_pdos + 1, EC_WD_DISABLE},
+  {3, EC_DIR_INPUT, 2, akd_pdos + 1, EC_WD_DISABLE},
    {0xff}
};

On Mon, Jan 6, 2014 at 6:23 AM, Dusty Clark <dclark at mmto.org> wrote:
>
> This seems to be a common issue on this list. :)
>
> I'm using Sebastien Blanchet's mini example he posted in 2012 as a base; in
> my application, I want to run the drive in velocity mode and just set/query
> the velocity values and the digital input status, along with the command
> word and status word.
>
> The issue is that the registration of the last PDO comes up unmapped. The
> output from dmesg is:
>
> [ 6271.226521] EtherCAT: Requesting master 0...
> [ 6271.226525] EtherCAT: Successfully requested master 0.
> [ 6271.226584] EtherCAT ERROR 0 0:0: PDO entry 0x6041:00 is not mapped.
> [ 6271.226641] EtherCAT 0: Releasing master...
> [ 6271.226643] EtherCAT 0: Released.
>
> The application runs (although with a funny issue with the digital input
> value varying wildly) when I don't include that particular PDO by not
> configuring it in the 0x1A01 object.
>
> The error messages when the code is running is:
> <stderr>: Failed to register PDO entry: No such file or directory
> <stderr>: PDO entry registration failed!
> <stdout>: Configuring AKD with free PDO...
> <stdout>: Configuring PDOs...
>
> So clearly the error happens when ecrt_domain_reg_pdo_entry_list() gets
> called. I'm really unsure why this would happen, I don't see what mistake
> there must be in there, so it's time to get help from the experts...and
> thanks in advance!
>
> BTW, I did supply the PDO list with a call to ecrt_slave_config_pdos(), so I
> *think* the PDOs got configured, but then I get the unmapped PDO error...
>
> Listing is attached...
>
> Dusty Clark
>
> _______________________________________________
> etherlab-users mailing list
> etherlab-users at etherlab.org
> http://lists.etherlab.org/mailman/listinfo/etherlab-users
>



-- 
Jun Yuan
[Aussprache: Djün Üän]

Robotics Technology Leaders GmbH
Am Loferfeld 58, D-81249 München
Tel: +49 89 189 0465 24
Mobile: +49 176 2176 5238
Fax: +49 89 189 0465 11
mailto: j.yuan at rtleaders.com

Umlautregel in der chinesischen Lautschrift Pinyin: Nach den Anlauten
y, j, q, und x wird u als ü ausgesprochen, z.B. yu => ü,  ju => dschü,
 qu => tschü,  xu => schü.