Corentin

Thanks for the reply. I need the time delay to be a parameter that can be changed by the operator while the Motion Program is running so this solution won't do it unfortunately. But I will keep it in mind, it might be useful for some testing. I was thinking about reading the XYZ coordinates or Motor[x].DesPos from lookahead segments. I found Coord[x].LHData but it is undocumented and I could not find anything obvious. Maybe using the Coord[x].LHStart address + n * BlockSize and somehow read values from the memory directly ? I'm sure there is a better way to do this but I can't figure it out at the moment.

Hello everyone, I'm trying to synchronize my pumping system flow rate to my motion system commanded speed. I am using a CK3E 8 axis, and my motors are defined in Coord[1] which uses a kinematic routine and lookahead (LHDistance = 250, SegMoveTime = 20). Because my pumping system has a lot of inertia, I need to anticipate a change in XY velocity about 2 seconds before segment execution and change my pump speed command accordingly. How can I achieve this ? Best regards,

Both servo drives are working fine, thanks to the reprogramming of their EEPROM and the junction slave GX-JC03 (Omron). Thank you very much for your help!

I used an EtherCAT junction slave (the GX-JC03 from Omron). It works perfectly with my Schneider drive! (On the network there is first the junction slave then the drive). On monday I will try to connect the second Schneider drive in daisy chain and I will post the results here.

Don't worry, it is my fault, I didn't specify that. Yes EtherCAT was enabled. I did what you describe and I delete some useless pdo that were proposed by the xml file (see in attachment, I surrounded them in red). And now the drive works perfectly! Thank you very much! Now I can't use the ABB drive for the final system, i will need something else to "stabilize" the network. Do you think an IO device or an EtherCAT switch will be good?

If I connect the Schneider drive first and the ABB next, the PMAC will not establish a connection with the drive (like in the first post of this thread when i couldn't connect the drive directly to the PMAC).

In the past few days I tried multiple things: -I manage to reprogram the EEPROM myself. It wasn't enough to solve the problem. -My company get (temporarily) a used servodrive ABB microflex e190. I managed to make this one work. -So I tried to connect the first one (schneider) with the microflex and it can go to OP mode (only when the microflex is on the network too). (see last attachment) That's a relief and thank you very much for your help. But now I got another problem : it seems the PDOs mapping power PMAC can't update the schneider's actual position (see first and second attachments). But when I use "ecatsdo(1,1,$6064,0,0,0)" I got a position that seems correct (see first attachment).

The result of "ecat reset" followed by "system dmesg" when Master[0] is deactivated, is in the attachment "dmesg.txt". The result of "ecat reset" followed by "system dmesg" when Master[0] is activated (and the error is shown in the startup window), is in the attachment "dmesg_error.txt". They seems to contain a lot more informations than the "/var/log/dmesg" file. dmesg.txt dmesg_error.txt

Another information, the drive seems to support only those modes of operation : Jog, Profile Position, Profile Velocity, Homing and Cyclic Synchronous Position (see in attachment). I tried only Cyclic Synchronous Position. Here is the link of the user manual of the drive : https://download.schneider-electric.com/files?p_enDocType=User+guide&p_File_Name=ILA2E_EtherCAT_Manual_V202_EN.pdf&p_Doc_Ref=0198441113634-EN

I tried to use the drive connected to my PC with TwinCAT as master. I managed to make the drive go to OP state. I've got 2 drives (exactly the same, both are brand new) and both of them can't reach OP state with the Power PMAC. Is it possible that the error comes from the drive despite those facts? I've already set the Sync 0 Shift to half of the Sync 0 Cycle (see first attachment). Actually I tried multiple values of Sync 0 Shift and I still got the problem. The content of dmesg seems to stay unchanged when I get the error (I start an ssh connection and check the file when the error is on the IDE screen). Is it possible that the error is written in another file? (see second attachment)

If I enter "ecat slaves" in the terminal when the device refuses to go into OP mode, it returns "0 VID=$0800005A PC=$000022DB 13:0 PREOP E $0800005A:$000022DB". (see in attachment).

We ultimately intend to use another servodrive (the same as the first) and maybe an I/O module. I've tried with 2 servodrives connected and I've got the same problem. Soon we will receive an EtherCAT slave development kit and I will try it. I can't command motion (probably because the drive needs to be in OP state for that) but I can read and write parameters from the drive with "ecatsdo()". But only when Master[0] tasks are deactivated, otherwise I get "Failed to execute SDO upload: Input/output error". No this is the first time I try to configure EtherCAT on a PMAC. I followed the Power PMAC IDE user manual. ECAT[0].Error is equal to 0 even when I get an error in "Slave Status" in the system setup window (see attachment).

I can't find any error logs about the EtherCAT. The only log wich contains information about Ethercat is "/var/log/dmesg" (see in attachment). Do you have any idea where those type of logs are?

Exactly, "ecat slaves" does not get a response unless I use a switch. I tried to power on and connect the slave before booting the PMAC, I still have the same problem. No the drive does not show any error. The only error I get is in the PMAC IDE in the "slave status" in the "system setup" window. (see in the attachment). I upload the logs and the error and error history logs mention nothing.

Hello all, I have issues setting up an Ethercat servodrive (Schneider Electric ILA2E572TC1A0). It cannot go into state SAFEOP or OP. When I activate Master[0] tasks the slave stay in PREOP and return an error (see attachment). Another problem is that PMAC don't support direct connection to the drive (even with a crossover cable). I need an ethernet switch between the two. How can I solve those two problems? Here is my configuration : -Rack UMAC -PowerPMAC 465 (PowerPC APM86xxx) -Firmware 2.5.0.4 -Accessories Acc-24E2A, Acc-84E and Acc-65E -IDE 3.1.4.0 I put screenshots of the ethercat configuration in attachment. Thanks in advance.