Ethercat with EL6751 CanOpen Master and JAT Servo Drives

JimPanski
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6 years 8 months ago - 6 years 8 months ago #157901 by JimPanski

Replied by JimPanski on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives

Hi Chimeno,

finally I got time for testing:

Warning: Spoiler!

[26338.866289] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[26338.870305] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration".
[26338.878321] EtherCAT 0-1: Acknowledged state PREOP.
[26338.882332] EtherCAT 0: Slave states on main device: PREOP, OP.
[26339.861153] EtherCAT 0: Domain 0: Working counter changed to 0/3
[26339.861154] .
[26385.002571] EtherCAT 0: Master thread exited.
[26385.002581] EtherCAT 0: Starting EtherCAT-IDLE thread.
[26385.002617] EtherCAT ERROR 0-0: Failed to receive AL state datagram:
[26385.002620] Datagram
[26385.002621] initialized
[26385.002622] .
[26385.002628] EtherCAT 0: Releasing master...
[26385.003200] EtherCAT 0: Released.
[26385.119901] EtherCAT 0: Slave states on main device: PREOP.
[26385.294546] EtherCAT WARNING: Datagram ffff8a6374aaa678 (master-fsm) was SKIPPED 1 time.
[26426.248972] EtherCAT: Requesting master 0...
[26426.248975] EtherCAT: Successfully requested master 0.
[26426.249103] EtherCAT 0: Domain0: Logical address 0x00000000, 7 byte, expected working counter 3.
[26426.249104] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 7 byte, type LRW.
[26426.252131] EtherCAT 0: Master thread exited.
[26426.252134] EtherCAT 0: Starting EtherCAT-OP thread.
[26426.252163] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[26426.584824] EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!
[26426.584826] EtherCAT WARNING 0-1:
[26426.584827] Currently mapped PDO entries:
[26426.584828] (none)
[26426.584828] . Entries to map:
[26426.584829] 0x7000:01/16

[26426.584831] EtherCAT WARNING 0-1: Slave does not support assigning PDOs!
[26426.584832] EtherCAT WARNING 0-1:
[26426.584832] Currently assigned PDOs:
[26426.584833] (none)
[26426.584833] . PDOs to assign:
[26426.584834] 0x1600

[26426.596856] EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!
[26426.596857] EtherCAT WARNING 0-1:
[26426.596858] Currently mapped PDO entries:
[26426.596858] (none)
[26426.596859] . Entries to map:
[26426.596860] 0x6000:01/16

[26426.608880] EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!
[26426.608881] EtherCAT WARNING 0-1:
[26426.608881] Currently mapped PDO entries:
[26426.608882] (none)
[26426.608882] . Entries to map:
[26426.608883] 0xA000:01/8
[26426.608884]
[26426.608884] 0xF100:01/8
[26426.608885]
[26426.608885] 0xF100:03/1
[26426.608886]
[26426.608886] 0xF100:05/1
[26426.608887]
[26426.608887] 0xF100:04/1
[26426.608888]
[26426.608888] 0xF100:02/1
[26426.608889]
[26426.608889] 0xA000:02/1

[26426.608890] EtherCAT WARNING 0-1: Slave does not support assigning PDOs!
[26426.608891] EtherCAT WARNING 0-1:
[26426.608891] Currently assigned PDOs:
[26426.608892] (none)
[26426.608892] . PDOs to assign:
[26426.608893] 0x1A00
[26426.608893]
[26426.608893] 0x1A80

[26426.615562] EtherCAT 0: Domain 0: Working counter changed to 2/3
[26426.615563] .
[26426.624924] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[26426.628937] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration".
[26426.636965] EtherCAT 0-1: Acknowledged state PREOP.
[26426.640979] EtherCAT 0: Slave states on main device: PREOP, OP.
[26427.619539] EtherCAT 0: Domain 0: Working counter changed to 0/3

this happens when i start it with the config file attached.
The only different from yours: This config file has only the 2 0x28FF set to the right values like i posted it before. (the win Twincat wont run with standard 1ms synchtime of the servo drive)

Sadly with your .xml File i also had no luck:

Warning: Spoiler!

In the meantime i think I got a better overview in Twincat, so that I could finally find the COE Startup SDOs which were used in the config xml file.
Do you have any further hints for me?
Thank you for your help!

Greetings
Conny

Last edit: 6 years 8 months ago by JimPanski.

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JimPanski
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6 years 8 months ago #158739 by JimPanski

Replied by JimPanski on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives

Hi Chimeno,

Do you happen to have the such a EL6751 device available? I am asking because I am not getting any furher because I dont know what else i can also try.
So far I could find that "plopes9000" had likely the same issue (seen here at the ethercat thread ) but sadly no solution was posted

Greetings
Conny

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chimeno
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6 years 8 months ago - 6 years 8 months ago #158811 by chimeno

Replied by chimeno on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives

Hi @Conny,

Do you happen to have the such a EL6751 device available?

I do not have this device, I never use it, I can not help you much about this, although you can try to scan through the WIRESHARK program the data transmission that TWINCAT performs and see what is happening and replicate it in Linux, you can also publish it and look at it.

regards
Chimeno

Last edit: 6 years 8 months ago by chimeno.

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JimPanski
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6 years 8 months ago #158948 by JimPanski

Replied by JimPanski on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives

Hi Chimeno,

thanks for your offer. I will try to wireshark asap.
Do you think that may help If you have such a EL6751 and maybe one servo drive at hand? If you are interested I can provide both devices to you.
In the meantime I hope I can reach to plopes and try to get some hints.
Thank you very much!

regards
Conny

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chimeno
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6 years 7 months ago - 6 years 7 months ago #159156 by chimeno

Replied by chimeno on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives

Hi @Conny

Do you think that may help If you have such a EL6751 and maybe one servo drive at hand? If you are interested I can provide both devices to you.

If I had them, it would be helpful, of course, although I think we are quite far away, I attach a new file to see if you have any progress, since the TWINCAT3 project that you passed me is not available, can you see if this data is correct?

Code:

<sdoConfig idx="1c12" subIdx="complete">
	<sdoDataRaw data="01 00 00 16"/>
	</sdoConfig>
	<sdoConfig idx="1c13" subIdx="complete">
	<sdoDataRaw data="02 00 00 1A 80 1A"/>
	</sdoConfig>

if you are lucky and you can solve it,

I enclose a simpler V2 version that might work

greeting
Chimeno

Last edit: 6 years 7 months ago by chimeno.

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JimPanski
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6 years 7 months ago - 6 years 7 months ago #159206 by JimPanski

Replied by JimPanski on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives

Hi Chimeno,

first of all I was asking if you have those devices because I got a second set op it here wich I could maybe share if you are interested.

I tried you configs with no luck

Warning: Spoiler!

EDIT: I am honestly not sure about index 1c13

thank you very much!

Greetings
Conny

Last edit: 6 years 7 months ago by JimPanski. Reason: added content

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