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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
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First, I don't think this is a SOEM issue. Second, you have to figure out why the Write fail
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I will try that and will give you feedback |
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;
while(TRUE)
} Iam getting the log |
Also device is giving a warning PLL unlocked |
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. |
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. |
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. |
Thanks. From the xml file can we figure out the preconditions which has to be set for the drive. |
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.
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Reference manual or similar, in your case Kollmorgen AKD EtherCat Communications Manual I guess. |
Any progress? |
sorry. I was not in the office for a while. Now I could able to control the drive in all modes. |
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 |
You might be able to read/write a the CoE PDO or a physical RAM address via FPRD/WR. |
Any updates? |
Nothing new. |
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.
and Link it with Slave configuration
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Kollmorgen AKD EtherCat Communications Manual.pdf
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