Ethercat EL7041 holding current

Hello,

it's me again with another question regarding ethercat and EL7041:
As my motors are getting boilding hot after some setup time, I had a look at the manual and found the
following interesting potential solution for this:

The manual (download.beckhoff.com/download/document/...rminals/el70x1en.pdf)
says at page 221 for index 8014:05 the following:
"This index defines the automatic holding current.
When the motor is at standstill, the coil currents are auto-
matically reduced to this value, in order to prevent unnec-
essary heating of the motor. This value is always refer-
enced to the max. current of the terminal (5 A). The value
is specified in 0 to 100%."
Default Value = 100%

But I am unable to either read or write to this object (Index 4 is one of my EL7041):
USER@MACHINE:/PATH# ethercat version
IgH EtherCAT master 1.5.2 unknown
USER@MACHINE:/PATH# ethercat -p 4 download --type uint16 0x8014 0x05
SDO transfer aborted with code 0x06010002: Attempt to write a read-only object
USER@MACHINE:/PATH# ethercat -p 4 download --type uint16 0x8014 0x05 10
SDO transfer aborted with code 0x06010002: Attempt to write a read-only object

My machine is running and I can move the axis, (...).

Any suggestion is be appreciated.

Thanks in advance,
Ben

Hello Ben

The manual states that the date type is eight bit.
In the command you are using you have the data
type as 16 bit.

Allan

Hello Allan,

You are right - I entered another Datatype and missed to change it while it created thr post.
I had this issue using uint8 and uint16.

It did not make any difference which of both datatype I use.

Best Regards,
Ben

Hello Ben

Is your drive in the pre-OP state when you issue the command?

Allan

Hello Allan,

i tried it while linuxcnc was running (el7041 in op-state) and in preop state.

Best Regards,
Ben

Hello Ben

Have you previously managed to write parameters to the terminal?
If so, have you tried to write one of these parameters again just to
confirm that everything is working as previously?

Allan

Hello Allan,

No - this is still an open issue for me

Best Regards,
Ben

Hello Ben

What happens if you try to modify another parameter?
For example:

Read Maximum Motor Current (mA)

ethercat upload -p $ -t uint16 0x8010 0x01


Set Maximum Motor Current to 1000 mA

sudo ethercat download -p $ -t uint16 0x8010 0x01 1000

Allan

Hello Allan,

sorry for delay..

I checked tied both of your commands and they seem to work both.

Best Regards,
Ben

Hello all,

while checking the manuals of EL7041-1000 and EL7041-0000 it looks like register 8014 is only available for components >EL7041-0000 which I am using.

Regards,
Ben