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

[Dusty Clark]

Many thanks, Jun, that was indeed the issue!

I'm now moving on to *other* issues I have with this drive, some other
experts on the list may know:

a) is there a PDO mapping for the limit switches?
b) and what is the REAL scaling for the velocity command value? I tried a
union with a float and a long int to use rpm in natural values, e.g. 1.0
rpm, 2.0 rpm, but anything other than 0.0 as a float and writing the EC32
value didn't work (I got an overspeed error). Hopefully someone here will
know; I'll be calling Kollmorgen myself as well to straighten this out...

Thanks again!


On Mon, Jan 6, 2014 at 7:38 AM, Jun Yuan <j.yuan at rtleaders.com> wrote:

> 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.
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