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

Mon May 16 16:15:51 CEST 2016

I took the instruction to "run the example without any modification" to heart and didn't even change the address of the master/slave. After changing the #define AkdSlavePos value from 51,0 to 0,0 it took off immediately! Thank you for all your help!

Thanks,

Alyssa Wells

-----Original Message-----
From: Alyssa Wells
Sent: Thu 5/12/2016 12:27 PM
To: Sebastien Blanchet; etherlab-users at etherlab.org
Subject: RE: [BULK]  Re: [etherlab-users] SDO transfer aborted

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]
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]
> 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]
>  > 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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