[etherlab-users] Trouble with SDB-40-100

[Gavin Lambert]

Don't write to those objects.  Not even with ecrt_slave_config_sdoXX.  Read
the documentation.

 

From: Frank, Matthias [mailto:Matthias.Frank at tq-group.com] 
Sent: Wednesday, 13 December 2017 20:26
To: Gavin Lambert <gavin.lambert at compacsort.com>;
etherlab-users at etherlab.org
Subject: AW: Trouble with SDB-40-100

 

 

Hi Gavin,

 

thanks for your answer.

I'am using ecrt_slave_config_sdoXX to write to 0x1c1x. I did not write it
directly. But when a trace the ethercat communication with wireshark during
program start, writing to  0x1c12, 0x1c13, 0x1a01,.. occurs like in a loop,
see ethercat.7z (there is a wireshark  dump file inside)

 

matthias

 

Von: Gavin Lambert [mailto:gavinl at compacsort.com] 
Gesendet: Mittwoch, 13. Dezember 2017 08:09
An: Frank, Matthias <Matthias.Frank at tq-group.com
<mailto:Matthias.Frank at tq-group.com> >; etherlab-users at etherlab.org
<mailto:etherlab-users at etherlab.org> 
Betreff: RE: Trouble with SDB-40-100

 

Don't try to write to 0x16xx, 0x1Axx, or 0x1C1x.  This is what
ecrt_slave_config_pdos and ecrt_domain_reg_pdos do for you internally (among
other things).  See the examples.

 

From: etherlab-users [mailto:etherlab-users-bounces at etherlab.org] On Behalf
Of Frank, Matthias
Sent: Wednesday, 13 December 2017 19:32
To: etherlab-users at etherlab.org <mailto:etherlab-users at etherlab.org> 
Subject: [etherlab-users] Trouble with SDB-40-100

 

Hi all,

 

I'm trying to use a SDB-40-100 servo drive with CoE. 

I can read and write Cia402 and EtherCAT registers manually using the
ethercat cli program. But when I start the program position.c the master
don't switch the slave device to SAFEOP/OP. The slave is still in PREOP. 

 

By tracing the EtherCAT communication, writing to CiA registers (e.g.
0x1c12, 0x1c13, 0x1a01, 0x6060 ) is repeated. 

After changing the slave's state manually to SAFEOP a lot of errors occur in
the kernel log. 

 

What is going wrong? The device will work with other masters like Twincat. 

 

System configuration

Linux 3.4.69-rt85

EtherCAT 1.5.2 with generic Ethernet (tg3)

 

Thanks for your advice,

Matthias

 

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