AnthonyLH Posted January 23, 2014 Posted January 23, 2014 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
Omron Forums Support Posted January 23, 2014 Posted January 23, 2014 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
AnthonyLH Posted January 24, 2014 Author Posted January 24, 2014 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 youKEB2248F5ETG4d.zip
Omron Forums Support Posted January 25, 2014 Posted January 25, 2014 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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