Hi,
i am a little bit lost with the configuration of CANOpen Devices via EtherCAT.
All other EtherCAT Components are working fine with LinuxCNC but since a few days i am trying to configure Nanotec SMCI-47-S stepperdrivers but i am stuck in the first step - configuring the device with TwinCAT.
What i have done so far:
- Adding EtherCAT coupler and IOs to TwinCAT -> working properly
- Adding the EL6751 and add an CANOpen Network
- Add generic CANOpen Slave and load the corresponding eds File to make the data and diagnosis readable
- I can communicate with the slave and everything goes "OP"
- I need to define the content of PDOs by setting the RX/TPDO Mapping Parameter
- Trying to change the TPDO1 Mapping Parameter results in an Error called: "SDO data mismatch at StartUp" ... "SDO Upload Error 0x1a00 SI2 received value != expected value"
The manual describes PDO mapping as following:
- Change to the “Pre-Operational” mode.
- Deactivate the PDO to be changed and reset.
- Write changed mapping and activate PDO again.
- Bring the controller into “Operational” mode again in order to use the PDO
The Startup SDO config is attached.
0x1a00 subid 1 does not throw an error because it´s equal to the current config on the motor driver.
I am not sure about the step number 1 - Do i have to put the device into PreOp by Startup SDOs? I think that the device is in Preop while configured by twincat.
Has anyone experience configuring CANOpen devices with CiA402 profile and can give some hints configuring the PDOs correctly?
Thanks in advance
