Ethercat and Delta ASD B3-E

hello all 
I trying to build a work system on asd b3-e drivers, but they're have a some diffs with asd a2-e.
deASDA driver of ethercat doesn't work, generic I can not to configure, possible..
a driver does not change a state from pre-op to op
and asda soft tells me about a error, but I cant to solve this problem.

can anyone to help me? 

hi,

try to change the mapping in asda soft to match the asda driver. Then there is an big chance that the driver will work.

mapping of asda driver:

0x1602:
{0x6041, 0x00, 16}, // Status Word
{0x606C, 0x00, 32}, // Current Velocity
{0x6064, 0x00, 32}, // Current Position
{0x2511, 0x00, 32} // external encoder

0x1a02:
{0x6040, 0x00, 16}, // Control Word
{0x60FF, 0x00, 32} // Target Velocity

I can't to find these parameters
if they're in .xml file (I have it)-how I can upload it to drive? -_-

if they are at lcec_deasda.c - I changed them yet, but here is not positive resukt

i don't mean changing things in lcec.

Are you able to change the mapping in the servo drive with the delta config software to match the asda mapping ?

I don't know how to change mapping in servo.

I find here another thread like my problem, read it and try something.

I can't to find and download a TwinCAT. Ethercat configurator is something near it.

I tried to use a generic config.  Vendor id of my driver is 477, and product id is 00006080 (these numbers are different with vid/pid of asd-a2-e).

I think here is a mistake at my xml, at declaring vid and pid.

I opened a dmesg console and linuxcnc console to see a errors.
In Linuxcnc all seems to be good.
At dmesg window two last strings areEthercat 0: Starting ethercat-op threadEthercat warning 0: 1 datagram unmatched.

config xml file have only two pairs of pdo.
one at 1601:6040 and 607a
2nd at 1a01:6041 and 6064.

in ethercat xml -p0 I see only them..

Hello,
did you find a solution?
We are stack in the same situation

Hi friend
i had the same problem but for a2 servos.
I am using omrg5  to modify DeASDA 
i was not able to use Hal-cia402 
My servos didn't become OP with that 
​​​

Hi mehdidadash,

thanks for the feedback.
As we feel in the dark, can you please be more explicit? Where we have to use omrg5?
Are the Asda B3 E working in your case?

Thanks in advance

I was at the same point than you've been 2 years ago. There was a post from hakan discribing how to read / write pdo's. You have to define the TxPDO mapping of the drives via ethercat. I have not found a way to do this inside the ASDA software. Take a look at the attached screenshot. These are my notes but i can't remember it in detail. The Delta manuals are good in general but this part isn't. If requested, I can attache one of my drives config files as well. I'm using absolut encoders though.

Edit: The corresponding chapter on the manual of the B3 drives is: 11.2.2.1 Process data object (PDO)

As far as I understand it, you're defining the "registers of the drive" that get map into registers, that are used to concatenate the ethercat dataframe. 

Hope that helps