LCEC creating Danfoss VFD config
18 Aug 2024 19:30 #308105
by PedPEx
Hey folks,
i'm trying to retrofit an old Maho400E in the near future with a Beckhoff EM7004 in combination with a costum adaptor-board for the 3 axis and wanted to prepare the electronics as far as possible. In addition to that i also want to implement a Danfoss VFD FC302 with its EtherCAT optioncard MCA124. I started to read out all the PDO mappings and so on, like in many other forum posts described, but now i don't know how to proceed with the Flag E and the dmesg output, that the VFD would not support distributed clocks. You can find all configs and readouts of the VFD on my Github . The most important stuff is also attached here.
Thank you guys for your help
Best regards
Patrick
EtherCAT network (ethercat slaves output while machine is running)
dmesg output of EtherCAT related messages
ethercat-conf.xml file:
LCEC creating Danfoss VFD config was created by PedPEx
Hey folks,
i'm trying to retrofit an old Maho400E in the near future with a Beckhoff EM7004 in combination with a costum adaptor-board for the 3 axis and wanted to prepare the electronics as far as possible. In addition to that i also want to implement a Danfoss VFD FC302 with its EtherCAT optioncard MCA124. I started to read out all the PDO mappings and so on, like in many other forum posts described, but now i don't know how to proceed with the Flag E and the dmesg output, that the VFD would not support distributed clocks. You can find all configs and readouts of the VFD on my Github . The most important stuff is also attached here.
Thank you guys for your help
Best regards
Patrick
EtherCAT network (ethercat slaves output while machine is running)
0 0:0 PREOP E FC-302
1 0:1 OP + EK1100 EtherCAT-Koppler (2A E-Bus)
2 0:2 OP + EM7004 4-Achs Interfacedmesg output of EtherCAT related messages
[ 5.972506] EtherCAT: Master driver 1.6.0 1.6.0.gcafd367-1+1.1
[ 5.972663] EtherCAT: 1 master waiting for devices.
[ 5.993635] ec_generic: EtherCAT master generic Ethernet device module 1.6.0 1.6.0.gcafd367-1+1.1
[ 5.993664] EtherCAT: Accepting F8:75:A4:86:9A:F4 as main device for master 0.
[ 6.025021] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 8.676976] EtherCAT 0: Link state of ecm0 changed to UP.
[ 8.961049] EtherCAT 0: 3 slave(s) responding on main device.
[ 8.961055] EtherCAT 0: Slave states on main device: PREOP.
[ 8.961492] EtherCAT 0: Scanning bus.
[ 9.035903] EtherCAT WARNING 0-0: Received mailbox protocol 0x02 as response.
[ 9.035906] EtherCAT ERROR 0-0: Failed to read number of assigned PDOs for SM2.
[ 9.044901] EtherCAT ERROR 0-0: Received upload response for wrong SDO (0x1C12:00, requested: 0x1C13:00).
[ 9.044904] EtherCAT DEBUG: 00 30 4F 12 1C 00 01 00 00 00
[ 9.585876] EtherCAT 0: Bus scanning completed in 624 ms.
[ 9.585880] EtherCAT 0: Using slave 1 as DC reference clock.
[ 9.585883] EtherCAT 0: Starting EoE thread.
[ 9.626324] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 9.626621] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
[ 9.636234] EtherCAT 0-0: Acknowledged state PREOP.
[ 24.746151] EtherCAT: Requesting master 0...
[ 24.746156] EtherCAT: Successfully requested master 0.
[ 24.748381] EtherCAT 0: Domain0: Logical address 0x00000000, 64 byte, expected working counter 6.
[ 24.748385] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 64 byte, type LRW.
[ 24.748399] EtherCAT 0: Master thread exited.
[ 24.748402] EtherCAT 0: Stopping EoE thread.
[ 24.748416] EtherCAT 0: EoE thread exited.
[ 24.748417] EtherCAT 0: Starting EoE thread.
[ 24.748455] EtherCAT 0: Starting EtherCAT-OP thread.
[ 24.748492] EtherCAT WARNING 0: 33 datagrams TIMED OUT!
[ 24.773374] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[ 24.773380] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.
[ 36.885422] EtherCAT WARNING 0-0: Slave seems not to support distributed clocks!
[ 36.887420] EtherCAT ERROR 0-0: Failed to set DC cycle times: No response.
[ 36.940945] EtherCAT 0: Slave states on main device: PREOP, OP.ethercat-conf.xml file:
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5" name="m0">
<!-- Danfoss FC302 in CiA402/DSP402 mode -> needs CiA402 mode vl -->
<slave idx="0" type="generic" vid="0200008d" pid="00000064" configPdos="true" name="2001_FC302">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<syncManager idx="2" dir="out">
<pdo idx="1616">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="ControlWord" halType="u32"/>
<pdoEntry idx="6042" subIdx="00" bitLen="16" halPin="TargetVelocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a16">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="StatusWord" halType="u32"/>
<pdoEntry idx="6044" subIdx="00" bitLen="16" halPin="ActualVelocity" halType="s32"/>
<!-- <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="ModeOfOperationDisplay" halType="u32"/>-->
</pdo>
</syncManager>
</slave>
<!-- Beckhoff IO modules -->
<slave idx="1" type="EK1100" name="0501_EK1101"/>
<slave idx="2" type="EM7004" name="0501_EM7004"/>
</master>
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