[Etherlab-users] Beckhoff AX8206 don't switch to OP mode

Richard Hacker ha at igh.de
Tue Nov 1 19:26:04 CET 2022


I am pretty sure the slave doesn't have 6 SyncManagers! Your PDO 
configuration is incorrect somewhere. I don't have the documentation to 
check.

On 11/1/22 09:42, Oguz Dilmac wrote:
>    Hi,
> 
> One of our customer wants to use Beckhoff servo drive on their machine. 
> The problem is we can't switch to OP mode.
> 
> We get the PDO info with cstruct. Oddly, although this device supports 2 
> drives, we only see one drive's PDOS.
> 
> When we want to switch to OP mode,
> 
> Etherlab master gives following error:
> 
>      Etherlab -> unknown al status code 0x0003
> 
> Also When we use Twincat 2.0 this error is displayed:
> 
>      'Drive 2 (AX8206-0000-0104)' (1002): 'PREOP to SAFEOP' failed! 
> Error: 'check device state for SAFEOP'. AL Status '0x0012' read and 
> '0x0004' expected. AL Status Code '0x001d - Invalid SM OUT cfg'
> 
> We are using Gavin's patch set on linux kernel 4.9.178 64 bit.
> 
> Here is the cstruct output:
> 
> /* Master 0, Slave 1, "AX8206-0000-0104"
>   * Vendor ID:       0x00000002
>   * Product code:    0x200e6012
>   * Revision number: 0x00680000
>   */
> 
> ec_pdo_entry_info_t slave_1_pdo_entries[] = {
>      {0x2c00, 0x01, 16},
>      {0x6040, 0x00, 16},
>      {0x607a, 0x00, 32},
>      {0x60ff, 0x00, 32},
>      {0x6840, 0x00, 16},
>      {0x687a, 0x00, 32},
>      {0x68ff, 0x00, 32},
>      {0x0000, 0x00, 1},
>      {0x603e, 0x02, 1},
>      {0x603e, 0x03, 1},
>      {0x0000, 0x00, 5},
>      {0x6041, 0x00, 16},
>      {0x6064, 0x00, 32},
>      {0x60f4, 0x00, 32},
>      {0x0000, 0x00, 1},
>      {0x683e, 0x02, 1},
>      {0x683e, 0x03, 1},
>      {0x0000, 0x00, 5},
>      {0x6841, 0x00, 16},
>      {0x6864, 0x00, 32},
>      {0x68f4, 0x00, 32},
> };
> 
> ec_pdo_info_t slave_1_pdos[] = {
>      {0x1600, 1, slave_1_pdo_entries + 0},
>      {0x1620, 1, slave_1_pdo_entries + 1},
>      {0x1623, 2, slave_1_pdo_entries + 2},
>      {0x1640, 1, slave_1_pdo_entries + 4},
>      {0x1643, 2, slave_1_pdo_entries + 5},
>      {0x1a20, 6, slave_1_pdo_entries + 7},
>      {0x1a26, 1, slave_1_pdo_entries + 13},
>      {0x1a40, 6, slave_1_pdo_entries + 14},
>      {0x1a46, 1, slave_1_pdo_entries + 20},
> };
> 
> ec_sync_info_t slave_1_syncs[] = {
>      {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
>      {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
>      {2, EC_DIR_OUTPUT, 5, slave_1_pdos + 0, EC_WD_ENABLE},
>      {3, EC_DIR_INPUT, 4, slave_1_pdos + 5, EC_WD_DISABLE},
>      {4, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
>      {5, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
>      {0xff}
> };
> 
> What can you suggest to check, set or try?
> 
> Best regards,
> 
> Oguz.
> 
> 

Mit freundlichem Gruß

Richard Hacker

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