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

Alyssa Wells Alyssa.Wells at custom-pak.com
Thu May 12 19:42:12 CEST 2016 

The STO state in workbench shows a green light. The drive never displays any sort of fault or warning message in workbench (or in fault codes on the front of the drive) during this process.

Thanks,

Alyssa Wells
Automation Technician
Custom-Pak, Inc.
www.custom-pak.com



-----Original Message-----
From: Dusty Clark [mailto:springender at gmail.com]
Sent: Thu 5/12/2016 12:36 PM
To: Alyssa Wells
Cc: Sebastien Blanchet; etherlab-users at etherlab.org
Subject: Re: [etherlab-users] [BULK] Re: SDO transfer aborted
 
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
>
>
> _______________________________________________
> etherlab-users mailing list
> etherlab-users at etherlab.org
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>
>

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