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

[Jun Yuan]

My pleasure.
a) look for the Object Dictionary for AKD CANOpen. Usually the
manufacture would offer a EDS file for it. It lists all the objects,
and whether they have a PDO mapping.
b) No, no unions. I never see a servo would accept float value. Only
Integers are transferred and used. Read the manual from the
manufacture, find out what the scaling factor for velocity is.

On Tue, Jan 7, 2014 at 4:53 AM, Dusty Clark <springender at gmail.com> wrote:
> 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.
>> _______________________________________________
>> 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.