[etherlab-users] [BULK] Re: SDO transfer aborted

Thu May 12 19:36:57 CEST 2016

Just a quick thought, seeing this...is the unit in safe-torque-off state
(STO)? In other words, do you have the hardware enables connected up as
shown in the minimum connections diagram in the quick start booklet?

Alternatively, if you have a Windows machine available you can always start
up Kollmorgen Workbench and poke around to see what sort of error it
reports.

On Thu, May 12, 2016 at 10:27 AM, Alyssa Wells <Alyssa.Wells at custom-pak.com>
wrote:

> Commands with output:
> $sudo ./akd_torque
> Configuring AKD with flexible PDO...
> Configuring PDOs...
> Activating master...
> Started.
> AKD: actual velocity = 0.0 rpm
> AKD: actual velocity = 0.0 rpm
> AKD: actual velocity = 0.0 rpm
> AKD: actual velocity = 0.0 rpm
> AKD: actual velocity = 0.0 rpm
> AKD: actual velocity = 0.0 rpm
> AKD: actual velocity = 0.0 rpm
> AKD: actual velocity = 0.0 rpm
> AKD: actual velocity = 0.0 rpm
> AKD: actual velocity = 0.0 rpm
> AKD: actual velocity = 0.0 rpm
>
> $sudo dmesg -c
> [  587.437348] EtherCAT: Requesting master 0...
> [  587.437366] EtherCAT: Successfully requested master 0.
> [  587.437802] EtherCAT 0: Domain0: Logical address 0x00000000, 10 byte,
> expected working counter 3.
> [  587.437817] EtherCAT 0:   Datagram domain0-0-main: Logical offset
> 0x00000000, 10 byte, type LRW.
> [  587.437900] EtherCAT 0: Master thread exited.
> [  587.437917] EtherCAT 0: Starting EtherCAT-OP thread.
> [  587.438163] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [  587.440307] EtherCAT WARNING 0: No app_time received up to now, but
> master already active.
> [  587.477094] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave
> refused state change (PREOP + ERROR).
> [  587.479131] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid
> output configuration".
> [  587.483235] EtherCAT 0-0: Acknowledged state PREOP.
>
> After seeing the ERROR 0-0: Failed to set SAFEOP state, slave refused
> state change (PREOP + ERROR) message, I checked the drive for faults and
> found none that needed to be reset.
>
>
> Thanks,
> Alyssa Wells
>
>
>
> -----Original Message-----
> From: Sebastien Blanchet [mailto:blanchet at iram.fr <blanchet at iram.fr>]
> Sent: Thu 5/12/2016 11:02 AM
> To: Alyssa Wells; etherlab-users at etherlab.org
> Subject: [BULK]  Re: [etherlab-users] SDO transfer aborted
>
> Hi,
>
> Indeed it should be moving.
>
> Try to run the torque example (it is easier), without any modification
> http://lists.etherlab.org/pipermail/etherlab-users/2015/002698.html
>
> Send me back:
> - the console output
> - the kernel message (with 'dmesg' )
>
> so that I can compare with my results and then try to understand that is
> wrong.
>
> regards,
> --
> Sebastien BLANCHET
>
>
> On 05/12/2016 04:01 PM, Alyssa Wells wrote:
> > Sebastien,
> >
> > Thank you for the help and resources! I'm working my way through your
> examples
> > now, trying to understand the sequence of events completely so I can
> follow it
> > for my application.
> > I tried running the profile velocity example and the cyclic sync position
> > example with no movement. It appears to be communicating with the drive
> just
> > fine, it reports back actual velocity/position as 0 every scan, but it
> doesn't
> > enable the drive or move it at all. Is that by design, or should it be
> moving?
> > I feel like I'm getting close to making this work, but I feel like I'm
> missing
> > something or overcomplicating something in the process that's messing me
> up. If
> > you have time, I'd appreciate any insight you can offer.
> >
> > Thanks!
> > Alyssa Wells
> >
> >
> > -----Original Message-----
> > From: Sebastien Blanchet [mailto:blanchet at iram.fr <blanchet at iram.fr>]
> > Sent: Tue 5/10/2016 11:15 AM
> > To: Alyssa Wells; etherlab-users at etherlab.org
> > Subject: Re: [etherlab-users] SDO transfer aborted
> >
> > Hi,
> >
> > This KM guide for Interpolated Position is for CANOpen only. For
> EtherCAT CoE,
> > SDO 0x1c12 and 0x1c13 must be set, otherwise it does not work.
> >
> > SDO 0x1c12 and 0x1c13 are used to assign PDO to the Sync Manager.
> >
> > My example is based on the TwinCAT example from the Kollmorgen EtherCAT
> > documentation. See the startup-SDO-list in section 4.6.1 "Flexible PDO
> Mappings" in
> >
> http://www.kollmorgen.com/uploadedFiles/Products/Drives/AC_Servo_Drives/AKD/AKD_Manuals/903-200005-00%20AKD_EtherCat_en%20Rev%20E.pdf
> >
> >
> > regards,
> > --
> > Sebastien BLANCHET
> >
> >
> > On 05/10/2016 03:17 PM, Alyssa Wells wrote:
> >  > Firmware: M_01-13-00-004
> >  > Shell script attached that now works! I added line 3 and adjusted
> line 10 (had
> >  > the wrong type there, uint32 instead of uint8)
> >  > I got those commands from this guide on Interpolated Position from
> Kollmorgen
> >  >
> > (
> http://kdn.kollmorgen.com/sites/default/files/AKD%20CanOpen%20DS402%20PDO%20Interpolated%20position.pdf
> )
> >  > and I don't fully understand why their example uses the commands that
> it does,
> >  > versus your examples.
> >  > A more specific example of this is the line 3 that I added to my
> script is
> >  > something you use in your examples, but KM does not use. What exactly
> does that
> >  > line achieve and why is it better than the KM method? (Aside from the
> obvious
> >  > fact that it works and their way doesn't)
> >  >
> >  >
> >  > Thanks,
> >  >
> >  > Alyssa Wells
> >  >
> >  >
> >  >
> >  > -----Original Message-----
> >  > From: Sebastien Blanchet [mailto:blanchet at iram.fr <blanchet at iram.fr>]
> >  > Sent: Tue 5/10/2016 8:05 AM
> >  > To: Alyssa Wells; etherlab-users at etherlab.org
> >  > Subject: Re: [etherlab-users] SDO transfer aborted
> >  >
> >  > Hi,
> >  >
> >  > Could you please send
> >  > - the full listing of your PDOs configuration
> >  > - the firmware version of your AKD servo drive
> >  >
> >  > Ideally I would like a shell script like this
> >  >
> >
> http://lists.etherlab.org/pipermail/etherlab-users/attachments/20120413/b83b76d4/attachment.bin
> >  > so that I can easily replay the configuration sequence
> >  >
> >  > regards,
> >  > --
> >  > Sebastien BLANCHET
> >  >
> >  >
> >  > For your information, I have already posted some examples for
> Kollmorgen AKD,
> >  > that may help you.
> >  > http://lists.etherlab.org/pipermail/etherlab-users/2012/001684.html
> >  > http://lists.etherlab.org/pipermail/etherlab-users/2015/002724.html
> >  > http://lists.etherlab.org/pipermail/etherlab-users/2015/002698.html
> >  > http://lists.etherlab.org/pipermail/etherlab-users/2015/002723.html
> >  >
> >  >
> >  >
> >  > On 05/09/2016 04:37 PM, Alyssa Wells wrote:
> >  >  > Using the EtherCAT Master to talk to a Kollmorgen AKD drive with
> quite a
> > bit of
> >  >  > success. When I try to set up some of the PDOs, I get an error
> message.
> >  >  >
> >  >  > This command:
> >  >  > sudo ethercat -p0 -t uint32 download 0x1602 1 0x60400010
> >  >  >
> >  >  > Produces the following errors:
> >  >  >
> >  >  > (the first time it is run)
> >  >  > SDO transfer aborted with code 0x06040041: The object cannot be
> mapped into
> >  > the PDO
> >  >  >
> >  >  > (any subsequent times it is run)
> >  >  > SDO transfer aborted with code 0x08000022: Data cannot be
> transferred or
> > stored
> >  >  > to the application because of the present device state
> >  >  >
> >  >  > If anyone has any insight into why this is happening, I would
> really
> > appreciate
> >  >  > the input. Thanks!
> >  >  >
> >  >  >
> >  >  > Alyssa Wells
> >  >  > Automation Technician
> >  >  > Custom-Pak, Inc.
> >  >  > www.custom-pak.com
> >  >  >
> >  >
> >  >
> >
>
>
> --
> Sebastien BLANCHET
> Head of Computer Group -- IRAM
>
> Institut de Radio Astronomie Millimetrique
> 300 rue de la Piscine
> Domaine Universitaire de Grenoble
> 38406 Saint Martin D'Heres
> FRANCE
>
>
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