Iam just started using SOEM. Iam a beginner. When Iam trying to control AKD motor control drive which is a slave I couldn't able to write the control word using ec_SDOwrite().I dont know is there any other things i Should do.Slave is in operational mode.Can somebody Please help on this topic. I have given the datasheet also #69

ETA-TECH · 2017-01-09T03:40:23Z

Kollmorgen AKD EtherCat Communications Manual.pdf

nakarlsson · 2017-01-09T06:51:07Z

First, I don't think this is a SOEM issue.

Second, you have to figure out why the Write fail

Check for CoE error with boolean error flag EcatError and print function ec_elist2string
Or
Take a wireshak log, it should give you a hint. The slave should reply with an Abort.

ETA-TECH · 2017-01-09T07:38:26Z

I will try that and will give you feedback

ETA-TECH · 2017-01-10T04:22:24Z

There is no error in the flag and ec_elist2string function. But one more observation is that the status word from the device is saying that not ready to switch on. Is this any configuration issue. This is how Iam doing simpletest()

int i,IOmap_size,chk,oloop, iloop;
uint16 status[1];
int pointer_2=sizeof(status);
uint16 uint16val;
char error;

if (ecx_init(ectx, ifname) <= 0) {
        printf("ecx_init on %s failed\n", ifname);
        return 1;
}

while(TRUE)
{
ecx_config_init(ectx, FALSE);
printf("found %d slaves\n", *(ectx->slavecount));

/* slavelist[0] is not used */
for (i=1; i <= *(ectx->slavecount); i++) {
        ec_slavet* slave = ectx->slavelist + i;
        printf("slave %d (%s): state = %02x\n", i, slave->name, slave->state);
}
for (i=1; i <= *(ectx->slavecount); i++) {
        if (configure_syncmaster(ectx, i)) {
                printf("configure_syncmaster failed for slave %d\n", i);
                return 1;
        }
}

ecx_statecheck(ectx, 0 /* all slaves */, EC_STATE_PRE_OP, EC_TIMEOUTSTATE * 4);
ecx_readstate(ectx);
printf("ecx_statcheck state = %02x\n", ectx->slavelist->state);
for ( i=1; i <= *(ectx->slavecount); i++) {
        ec_slavet* slave = ectx->slavelist + i;
        printf("slave %d (%s): state = %02x status = %02x (%s)\n", i, slave->name, slave->state, slave->ALstatuscode, ec_ALstatuscode2string(slave->ALstatuscode));
}

IOmap_size = ecx_config_map_group(ectx, IOmap, /* group= */ 0 );
if (IOmap_size <= 0) {
        printf("ecx_config_map_group on %s failed\n", ifname);

        return 1;
}
printf("mapped %d bytes\n", IOmap_size);

ecx_configdc(ectx);

ecx_statecheck(ectx, 0 , EC_STATE_SAFE_OP,  EC_TIMEOUTSTATE * 4);/* all slaves */
ecx_readstate(ectx);
printf( "ecx_statcheck state = %02x\n", ectx->slavelist->state);
for ( i=1; i <= *(ectx->slavecount); i++) {
        ec_slavet* slave = ectx->slavelist + i;
        printf("slave %d (%s): state = %02x status = %02x (%s)\n", i, slave->name, slave->state, slave->ALstatuscode, ec_ALstatuscode2string(slave->ALstatuscode));
}
ec_slave[0].state = EC_STATE_OPERATIONAL;

/* send one valid process data to make outputs in slaves happy*/
ec_send_processdata();
ec_receive_processdata(EC_TIMEOUTRET);

/* request OP state for all slaves */
ec_writestate(0);
chk = 40;

/* wait for all slaves to reach OP state */
do
{
   ec_send_processdata();
   ec_receive_processdata(EC_TIMEOUTRET);
   ec_statecheck(0, EC_STATE_OPERATIONAL, 100000);
}
while (chk-- && (ec_slave[0].state != EC_STATE_OPERATIONAL));

if (ec_slave[0].state == EC_STATE_OPERATIONAL )
{
   printf("Operational state reached for all slaves.\n");
   inOP = TRUE;

   /* cyclic loop */
   for(i = 1; i <= 1000; i++)
   {
      ec_send_processdata();
      wkc = ec_receive_processdata(EC_TIMEOUTRET);
      ec_SDOread(1,0x6041,0,FALSE,&pointer_2,&status, EC_TIMEOUTRXM);

      CONSOLEUtilsPrintf("status=%d\n", status[0]);
      uint16val=0xf;
      //wkc=ecx_SDOwrite(ectx, 1,0x6040, 0,TRUE, sizeof(uint16val), &uint16val, EC_TIMEOUTRXM);
      ec_SDOwrite(1, 0x6040, 0, FALSE, sizeof(uint16val), &uint16val, EC_TIMEOUTRXM);

      ec_elist2string();
      //printf("%s\n", error);
           if(wkc >= expectedWKC)
           {
               printf("Processdata cycle %4d, WKC %d , O:", i, wkc);

               for(j = 0 ; j < oloop; j++)
               {
                   printf(" %2.2x", *(ec_slave[0].outputs + j));
               }

               printf(" I:");
               for(j = 0 ; j < iloop; j++)
               {
                   printf(" %2.2x", *(ec_slave[0].inputs + j));
               }
               printf(" T:%lld\r",ec_DCtime);
               needlf = TRUE;
           }
           usleep(5000);

       }
       inOP = FALSE;
   }

}
ecx_close(ectx);

Iam getting the log
[CortexA9] Network Added: If-1:192.168.2.3
Network Added: If-2:192.168.1.2
found 1 slaves
slave 1 (AKD): state = 01
ecx_statcheck state = 02
slave 1 (AKD): state = 02 status = 00 (No error)
mapped 4 bytes
ecx_statcheck state = 04
slave 1 (AKD): state = 04 status = 00 (No error)
Operational state reached for all slaves.
Iam using TI AM4379

ETA-TECH · 2017-01-10T04:35:23Z

Also device is giving a warning PLL unlocked

nakarlsson · 2017-01-10T05:40:56Z

Yes , it sounds like a configuration issue. Often you need to configure the slave before entering SAFEOP. For SOEM that is between config_init and config_map.

ETA-TECH · 2017-01-10T05:47:59Z

KKK. Now i got PLL locked from the slave and slave is in operational state. Which are the other conditions to be checked to find whether communication is proper before writing to the slave.

nakarlsson · 2017-01-10T06:20:16Z

Since you can enter OP you're "good" from an EtherCAT configurations perspective, but since you can't operate the drive its pre-conditions is not set and you can not enter drives' "operational" state. With that I can't help you, you need to consult the RM.

ETA-TECH · 2017-01-10T06:37:30Z

Thanks. From the xml file can we figure out the preconditions which has to be set for the drive.

ETA-TECH · 2017-01-10T08:55:50Z

Hi RM means??

…

On 1/10/2017 11:50 AM, nakarlsson wrote: Since you can enter OP you're "good" from an EtherCAT configurations perspective, but since you can't operate the drive its pre-conditions is not set and you can not enter drives' "operational" state. With that I can't help you, you need to consult the RM. — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#69 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AX0IuljnmhYGCGbObXusqNC7OD9MzgAKks5rQyMhgaJpZM4Ld6Qm>.

-- Regards, Githun Mohan ETA Technology Pvt Ltd Peenya Industrial Area, Bangalor - 58.

nakarlsson · 2017-01-10T09:08:41Z

Reference manual or similar, in your case Kollmorgen AKD EtherCat Communications Manual I guess.

nakarlsson · 2017-01-13T07:34:03Z

Any progress?

ETA-TECH · 2017-01-28T06:52:44Z

sorry. I was not in the office for a while. Now I could able to control the drive in all modes.

ETA-TECH · 2017-01-28T06:56:36Z

Now Iam trying EK1100 ethercat coupler and some DI DO modules along with the drive. Is there any way to access Slave IO's with out the function ec_config_map(&IOmap). Because when Iam using this function drive is loosing the syncronisation

nakarlsson · 2017-01-28T19:50:01Z

You might be able to read/write a the CoE PDO or a physical RAM address via FPRD/WR.

nakarlsson · 2017-02-14T21:12:51Z

Any updates?

nakarlsson · 2017-02-27T17:13:30Z

Nothing new.

rafaelkrause · 2021-06-30T17:59:24Z

Hi !! I'm posting the AKD Mapping that works for us in case any one got problems with AKD comunication. It's based on a configuration that we use at CodeSys. We have tested using the example simple_test.c.


 int AKDsetup(uint16 slave)
  {

     int retval = 0;
    uint8 u8val;
    uint16 u16val;
    uint32 u32val;  

    //Clean Output PDOs Indexes
    u8val = 0;
    retval += ec_SDOwrite(slave, 0x1c13, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM); // Clean SM3 PDOs (0x1c12)
    
    //Clean Input PDOs
    retval += ec_SDOwrite(slave, 0x1a00, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);    // Clean 0x1a00 PDOs Entry    
    retval += ec_SDOwrite(slave, 0x1a01, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);    // Clean 0x1a01 PDOs Entry
    retval += ec_SDOwrite(slave, 0x1a02, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);    // Clean 0x1a02 PDOs Entry
    retval += ec_SDOwrite(slave, 0x1a03, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);    // Clean 0x1a03 PDOs Entry    

    //Configure new INPUT PDOs (On Master Perspective)
    //PDO 01
    u32val = 0x60410010; // Status Word
    retval += ec_SDOwrite(slave, 0x1a00, 0x01, FALSE, sizeof(u32val), &u32val, EC_TIMEOUTRXM);  // Set Object 0x6041:00:10 (Index,SubIndex,BitLength) to 0x1a00:01 entry
    u32val = 0x60630020; // Feedback Position
    retval += ec_SDOwrite(slave, 0x1a00, 0x02, FALSE, sizeof(u32val), &u32val, EC_TIMEOUTRXM);  // Set Object 0x6063:00:20 (Index,SubIndex,BitLength) to 0x1a00:02 entry
    u8val = 2;
    retval += ec_SDOwrite(slave, 0x1a00, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);    // Set number of objects into PDO 0x1a00.
   //PDO 02
    u32val = 0x606C0020; // Actual Velocity
    retval += ec_SDOwrite(slave, 0x1a01, 0x01, FALSE, sizeof(u32val), &u32val, EC_TIMEOUTRXM);  
    u32val = 0x60770010; // Actual Torque
    retval += ec_SDOwrite(slave, 0x1a01, 0x02, FALSE, sizeof(u32val), &u32val, EC_TIMEOUTRXM);  
    u8val = 2;
    retval += ec_SDOwrite(slave, 0x1a01, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);    
   //PDO 03
    u32val = 0x60FD0020; // Digital Inputs 
    retval += ec_SDOwrite(slave, 0x1a02, 0x01, FALSE, sizeof(u32val), &u32val, EC_TIMEOUTRXM);  
    u32val = 0x34700410; // Analog Input
    retval += ec_SDOwrite(slave, 0x1a02, 0x02, FALSE, sizeof(u32val), &u32val, EC_TIMEOUTRXM);  
    u8val = 2;
    retval += ec_SDOwrite(slave, 0x1a02, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);    
 
   //Set SM3 PDOs
    u16val = 0x1a00; //PDO 1
    retval += ec_SDOwrite(slave, 0x1c13, 0x01, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTRXM); // Set SM2 PDOs (0x1c13) with 0x1600 PDO
    u16val = 0x1a01; //PDO 2
    retval += ec_SDOwrite(slave, 0x1c13, 0x02, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTRXM); // Set SM2 PDOs (0x1c13) with 0x1600 PDO
    u16val = 0x1a02; //PDO 3
    retval += ec_SDOwrite(slave, 0x1c13, 0x03, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTRXM); // Set SM2 PDOs (0x1c13) with 0x1600 PDO
    u8val = 3;
    retval += ec_SDOwrite(slave, 0x1c13, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM); // Set SM3 number of PDOs


   //Clean Output PDOs Indexes
   u8val = 0;
   retval += ec_SDOwrite(slave, 0x1c12, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM); // Clean SM2 PDOs (0x1c13)

   //Clean Output PDOs
    u8val = 0;
    retval += ec_SDOwrite(slave, 0x1600, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);    // Clean 0x1600 PDOs Entry
    retval += ec_SDOwrite(slave, 0x1601, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);    // Clean 0x1601 PDOs Entry
    retval += ec_SDOwrite(slave, 0x1602, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);    // Clean 0x1602 PDOs Entry
    retval += ec_SDOwrite(slave, 0x1603, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);    // Clean 0x1603 PDOs Entry

    //Configure new OUTPUTs PDOs (On Master Perspective)
    //PDO 01
    u32val = 0x60400010; // Control Word
    retval += ec_SDOwrite(slave, 0x1600, 0x01, FALSE, sizeof(u32val), &u32val, EC_TIMEOUTRXM);  // Set Object 0x6040:00:10 (Index,SubIndex,BitLength) to 0x1600:01 entry
    u32val = 0x60c10120; // Command Position (From Firmware Version 1.8.5), for earlier Firware use 0x607A:00. Another used name is Interpolation Data Record
    retval += ec_SDOwrite(slave, 0x1600, 0x02, FALSE, sizeof(u32val), &u32val, EC_TIMEOUTRXM);  // Set Object 0x6063:00:20 (Index,SubIndex,BitLength) to 0x1600:02 entry
    u8val = 2;
    retval += ec_SDOwrite(slave, 0x1600, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);    // Set number of objects into PDO 0x1600.
   //PDO 02
    u32val = 0x60FE0120; // Digital Outputs
    retval += ec_SDOwrite(slave, 0x1601, 0x01, FALSE, sizeof(u32val), &u32val, EC_TIMEOUTRXM);  
    u32val = 0x34700310; // Analog Output (Write)
    retval += ec_SDOwrite(slave, 0x1601, 0x02, FALSE, sizeof(u32val), &u32val, EC_TIMEOUTRXM);  
    u8val = 2;
    retval += ec_SDOwrite(slave, 0x1601, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);    
    
    //Set SM2 Pdos
    u16val = 0x1600; //PDO 1
    retval += ec_SDOwrite(slave, 0x1c12, 0x01, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTRXM); // Set SM3 PDOs (0x1c12) with 0x1600 PDO
    u16val = 0x1601; //PDO 2
    retval += ec_SDOwrite(slave, 0x1c12, 0x02, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTRXM); // Set SM3 PDOs (0x1c12) with 0x1600 PDO
    u8val = 2;
    retval += ec_SDOwrite(slave, 0x1c12, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM); // Set SM3 number of PDOs  
       
    //Set Startup Commands
    u8val = 0x07;
    retval += ec_SDOwrite(slave, 0x6060, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM); // Set Operation Mode (Sync Position)
    u8val = 0x04;
    retval += ec_SDOwrite(slave, 0x60C2, 0x01, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM); // Set Cycle time Units (4 * Cycle Expoent)
    u8val = -3;
    retval += ec_SDOwrite(slave, 0x60C2, 0x02, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM); // Set Cycle Expoent -> -3 means 10Exp-3 that is equal to milliseconds
    u32val = 0x30000;
    retval += ec_SDOwrite(slave, 0x60FE, 0x02, FALSE, sizeof(u32val), &u32val, EC_TIMEOUTRXM); // Set Digital Output Mask (To Enable use of Drive Outputs)


    //Print Ethercat Errors
    while(EcatError) printf("%s", ec_elist2string());


    printf("AKD Slave %d set, retval = %d\n", slave, retval);
    return 1;
}

and Link it with Slave configuration

 if((ec_slavecount >= 1))
         {
             for(int slc = 1; slc <= ec_slavecount; slc++)
             {
                
                 .....
                 if(slave == AKD)
                {
                     ec_slave[slc].PO2SOconfig = &AKDsetup;
                 }
             }
         }

nakarlsson added the question label Jan 9, 2017

nakarlsson closed this as completed Feb 27, 2017

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