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KEB F5 Ethercat Drives


AnthonyLH
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Hello, did someone already started a KEB F5 Drive with EtherCAT?

I am trying to activate PDOs.. without much success until now.

 

From the "PowerPmac System Setup":

My drive is recognised but in "IO Devises". I can read this in "Setup Messages":

1/23/2014 :11:36 AM - 192.168.16.215, Module - Setup Motor : Ethercat device returns error on command system ethercat slaves -m0 : response: 0 0:0 PREOP E 00F5060-F000. Cannot add device to list.

 

KEB provide XML files. I am able to import it.

 

I tried to configure the PDOs from "PowerPmac System Setup", and also manually by typing the all structure in a terminal. Example below.

 

Thank you

 

Exemple:

 

ECAT[0].Enable=0

Sys.maxecats=1

 

ECAT[0].SlaveCount=1

ECAT[0].DistrClocksCount=0

ECAT[0].RTStateCheckCount=0

ECAT[0].LPStateCheckCount=0

ECAT[0].DistrClocks=1

ECAT[0].RTStateCheck=0

ECAT[0].LPStateCheck=1

ECAT[0].ServoExtension=0

ECAT[0].LPnotLRW=0

ECAT[0].RTnotLRW=1

ECAT[0].tcritical=50000

ECAT[0].IOCount=0

ECAT[0].LPIOCount=0

 

ECAT[0].Slave[0].Enable=1

ECAT[0].Slave[0].Alias=$0

ECAT[0].Slave[0].Position=$0

ECAT[0].Slave[0].VendorID=$14

ECAT[0].Slave[0].ProductCode=$8c8

 

ECAT[0].Slave[0].PDO[0].index = $301D

ECAT[0].Slave[0].PDO[0].subindex = 1

ECAT[0].Slave[0].PDO[0].BitLength = 32

 

ECAT[0].Slave[0].PDOMapping[0].index = $1A00;

ECAT[0].Slave[0].PDOMapping[0].PDOCount = 1;

ECAT[0].Slave[0].PDOMapping[0].pPDO = ECAT[0].Slave[0].PDO[0].a

 

ECAT[0].Slave[0].SyncManager[0].index = 3;// For Inputs

ECAT[0].Slave[0].SyncManager[0].dir= 2;// For Inputs

ECAT[0].Slave[0].SyncManager[0].PDOMappingCount = 1;

ECAT[0].Slave[0].SyncManager[0].pPDOMapping = ECAT[0].Slave[0].PDOMapping[0].a

ECAT[0].Slave[0].SyncManager[0].watchdogmode = 0;

 

ECAT[0].IOCount = 1;//

ECAT[0].IO[0].Slave = 0

ECAT[0].IO[0].Index = ECAT[0].Slave[0].PDO[0].index

ECAT[0].IO[0].SubIndex = ECAT[0].Slave[0].PDO[0].subindex

ECAT[0].IO[0].BitLength = ECAT[0].Slave[0].PDO[0].BitLength

ECAT[0].IO[0].Input = 0

 

ECAT[0].IO[0].Type=0

ECAT[0].IO[0].Name[0]=0

 

ECAT[0].LPIO[0].Slave=0

ECAT[0].LPIO[0].SubIndex=0

ECAT[0].LPIO[0].Index=$0

ECAT[0].LPIO[0].BitLength=0

ECAT[0].LPIO[0].Input=0

ECAT[0].LPIO[0].Type=0

ECAT[0].LPIO[0].Name[0]=0

 

ECAT[0].AmpEnaTimeout=0

ECAT[0].DCRefSlave=0

ECAT[0].DCRefBand=0

ECAT[0].DCRefPlus=0

ECAT[0].DCRefMinus=0

ECAT[0].DCRefMaster=0

 

ECAT[0].Enable=2

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Hello,

When we run setup, initially we do two steps:

1 Command to know what is on the ring. For example on my system typing a command in the IDE terminal window gives me:

system ethercat slaves -m0. The same command we issue from System setup program.

0 0:0 PREOP + EK1100 EtherCAT-Koppler (2A E-Bus)

1 0:1 PREOP + EL4001 1K. Ana. Ausgang 0-10V, 12bit

2 4:0 PREOP + EL5101 1K. Inc. Encoder 5V

As you can see there is no error from the device unlike you received.

2. Once we know what is on the network we read the 0x1000 register for every device from the list. You an type this command in the IDE terminal window.

system ethercat -m -p upload 0x1000 0 -t uint32

The value from this registers tells me if the device is IO or Amplifier.

If you get the value 402 then it’s Amplifier else IO device. We implemented this based on DS402 specifications.

 

For first thing is to find out why you get the error you may want to involve device vendor for specific error code and the second thing to check with the device vendor if the 0x1000 register value returns valid value.

BTW who is the manufacturer of the Amplifier? If you can tell I will download their XML file to try.

Hope this helps.

Thanks,

Atul

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Thank you Agovande,

 

I am trying to start a KEB (manufacturer) F5 (drive type) Ethercat drive.

I jointed the XML of the drive. Website:

http://www.keb.de/en/products/servo-technology/combivert-f5-servo.html

http://www.keb.de/en/products/communication/ethernet-ethercat-powerlink-profinet.html

 

The reply to the sdo x1000 is:

For a servotronic drive (one i got yesterday for comparison, not the drive i need to start):

system ethercat -m0 -p0 upload 0x1000 0 -t uint32

0x00420192 4325778

I don't see the 402?

For a KEB F5 drive (the one i need to start) :

system ethercat -m0 -p1 upload 0x1000 0 -t uint32

0x00000000 0

 

I am starting the Servotronic today to get a second example.

Thank you

KEB2248F5ETG4d.zip

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Thank you Agovande,

 

I am trying to start a KEB (manufacturer) F5 (drive type) Ethercat drive.

I jointed the XML of the drive. Website:

http://www.keb.de/en/products/servo-technology/combivert-f5-servo.html

http://www.keb.de/en/products/communication/ethernet-ethercat-powerlink-profinet.html

 

The reply to the sdo x1000 is:

For a servotronic drive (one i got yesterday for comparison, not the drive i need to start):

system ethercat -m0 -p0 upload 0x1000 0 -t uint32

0x00420192 4325778

I don't see the 402?

For a KEB F5 drive (the one i need to start) :

system ethercat -m0 -p1 upload 0x1000 0 -t uint32

0x00000000 0

 

I am starting the Servotronic today to get a second example.

Thank you

You need to mask with 402 and you will get 402.

Looks like the KEB F5 drive vendor did not program the device info register and that is the reason this drive shows in the IO node.

Thanks,

Atul

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