[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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