Tuning ECAT-drive in CSV-mode - howto set filter gains via SDO, ecattypedsdo() fails

[sutty]

Hi!

Running Beckhoff-dirve EL7211-0010 in CSV-Mode, I need to tune the drives PI-gains before closing position loop on PPMAC.

After activating ECAT I tried writing to the drives velocity P-gain with follwoing command:

 

p1=ecattypedsdo(0,0,1,$8010,15,0,4)

where

0..master 0

0..slave 0

1..read

$8010..index for dirve amplifier settings

15.. subindex for velocity proportional gain

0..read/write-value

4..# bytes

 

p1=nan

 

Any idea?

For now I use the init-table to set those values - but it's quite laborious, since this approach needs many steps (deactivating ECAT, set value inside init-table, loading mapping to PPMAC, issue ecatreset, activating ECAT, agitate motor)

[Omron Forums Support]

Try changing the number of bytes between 1,2 and 4. Hopefully there is an option that does not give nan. Is this on Acontis?

[Alex Anikstein]

It does look like that subindex is 4 bytes. Still try other sizes as Eric indicated (in case I'm misreading this), but try to also issue the ecattypedsdo command while EtherCAT is disabled.

 

the drive may be doing something to block you from accessing (even just reading) that parameter to prevent it from being changed on the fly. If it works with EtherCAT disabled, then there may be some other command you need to issue to the drive first to disable it before it lets you change gains, but since it'd be pretty drive specific, I'm not sure what it would be.

[sutty]

Thank you Eric and Alex!

I tried all but without success. Always nan

The register ist 4 bytes, by the way.

 

Does anybody know something else?!

[Omron Forums Support]

I asked if this is Acontis because we have two SDO functions. ecattypedsdo is preferred for Acontis, but you can also try ecatsdo. The arguments are reordered and it doesn't need a number of bytes.

 

I would also try Alex's idea of disabling ecat with ECAT[0].Enable=0 before transferring SDOs in case there is a device specific issue.

 

Beyond those I would use another tool for viewing these registers to make sure index $8010 subindex 15 is correct. Can you view these values in twincat?

 

Are you sure it isn't more than 4 bytes?

 

Try listing the subindex as $F

[sutty]

Yes, I am using Acontis

 

Both cmds don't work for me, ecatsdo() nor ecattypedsdo()

Also not when ECAT disabled

hex subindex doesn't help either

 

And yes, it is 4 bytes

 

Funny thing- in diagnosis mode I can change 0x8010:18, gain for current amplifier

0x8010:15 is not listed their

 

 

By time I will try it with TwinCat. There the parameter is listed:

[Omron Forums Support]

From the screen shot, it looks like the sub-index is a hex $15. I'm a little surprised as I never see large sub-index that large numbers.

 

Try replacing this:

l0=ecattypedsdo(0,0,1,$8010,15,0,4) l0

 

With this:

l0=ecattypedsdo(0,0,1,$8010,$15,0,4) l0

[sutty]

Unfortunately no results.

Does not matter if ECAT enabled/disabled.

Tried both functions ecatsdo() ecattypedsdo()

[Alex Anikstein]

It doesn't work, even with $15 as the subindex instead of 15? For some reason I spaced out entirely when I was looking into your drive and the correct subindex is absolutely 21 ($15), not 15, which does not appear to exist. Just to be sure, can you re-try these two commands and verify that they both fail?

 

l0=ecattypedsdo(0,0,1,$8010,$15,0,4) l0

 

l0=ecattypedsdo(0,0,1,$8010,21,0,4) l0

[sutty]

I tried it all:

 

root@10.0.0.103:/opt/ppmac# gpascii

STDIN Open for ASCII Input

l0=ecattypedsdo(0,0,1,$8010,$15,0,4) l0

L0=nan

l0=ecattypedsdo(0,0,1,$8010,$15,0,4) l0

L0=nan

l0=ecattypedsdo(0,0,1,$8010,21,0,4) l0

L0=nan

l0=ecattypedsdo(0,0,1,$8010,21,0,4) l0

L0=nan

&1a

#1k

ecat[0].enable=0

l0=ecattypedsdo(0,0,1,$8010,21,0,4) l0

L0=nan

l0=ecattypedsdo(0,0,1,$8010,21,0,4) l0

L0=nan

l0=ecattypedsdo(0,0,1,$8010,$15,0,4) l0

L0=nan

l0=ecattypedsdo(0,0,1,$8010,$15,0,4) l0

L0=nan

vers

2.5.4.0

cpu

arm,LS1021A

sys.ecattype

Sys.EcatType=1

[Omron Forums Support]

I can't think of anything you could be doing wrong. Are you able to read any SDO values?

[sutty]

I can read registers with ecatregreadwrite(). Eg:

 

p4=ecatregreadwrite(0,0,1,$92c,0,4) p4

P4=106128631

p4=ecatregreadwrite(0,0,1,$928,0,4) p4

P4=0

p4=ecatregreadwrite(0,0,1,$904,0,4) p4

P4=-239087290

 

I cannot read anything with ecattypedsod(), like

p4=ecattypedsdo(0,0,1,$92c,0,0,4) p4

P4=nan

p4=ecattypedsdo(0,0,1,$904,0,0,4)

p4

l0=ecattypedsdo(0,0,1,$6000,$11,0,4) l0

L0=nan

[Omron Forums Support]

What firmware and IDE version are you using? I might need that info to find answers about how SDO commands can fail.

[sutty]

PPMAC V2.5.4.0 (with V2.5.0.3 same problems)

IDE V4.3.2.19

[Omron Forums Support]

Can you try this command? I'd like to try something a bit more universal to ensure SDOs really are all failing.

l0=ecattypedsdo(0,0,1,$6060,0,0,1) l0

[sutty]

Hi Eric!

I gave it a try - both, with ECAT disabled / enabled. No good:

 

ecat[0].enable=0

l0=ecattypedsdo(0,0,1,$6061,0,0,1) l0

L0=nan

l0=ecattypedsdo(0,0,1,$6061,0,0,1) l0

L0=nan

l0=ecattypedsdo(0,0,1,$6060,0,0,1) l0

L0=nan

l0=ecattypedsdo(0,0,1,$6060,0,0,1) l0

L0=nan

 

l0=ecatregreadwrite(0,0,1,$6060,0,1) l0

L0=nan

l0=ecatregreadwrite(0,0,1,$6060,0,2) l0

L0=nan

l0=ecatregreadwrite(0,0,1,$6060,0,4) l0

L0=nan

 

l0=ecatregreadwrite(0,0,1,$92c,0,4) l0

L0=nan

 

ecat[0].enable=1

 

l0=ecatregreadwrite(0,0,1,$92c,0,4) l0

L0=-731329157

 

l0=ecatregreadwrite(0,0,1,$6060,0,1) l0

L0=nan

l0=ecatregreadwrite(0,0,1,$6060,0,2) l0

L0=nan

l0=ecatregreadwrite(0,0,1,$6060,0,4) l0

L0=nan

l0=ecattypedsdo(0,0,1,$6061,0,0,1) l0

L0=nan

l0=ecattypedsdo(0,0,1,$6061,0,0,1) l0

L0=nan

l0=ecattypedsdo(0,0,1,$6060,0,0,1) l0

L0=nan

l0=ecattypedsdo(0,0,1,$6060,0,0,1) l0

L0=nan

[Alex Anikstein]

In our experience, Beckhoff implements EtherCAT through two different methods--one following the DS 402 profile, and one that is more similar to I/O, following the MDP 742 profile. Based on the responses, we believe that your unit is programmed to use the MDP 742 profile, and that is causing these issues. If you contact Beckhoff, you should be able to get a file that can be written to the EEPROM of the device to reprogram it for DS 402--it may even be available from their website, but I can't see it. Once you have that, if you contact odt (dash) support (at) omron (dot) com, we can send you a document that can help you load the file onto the device.

[sutty]

Hi Alex!

That is right - the device is setup with MDP742. I will follow your advice and get back to you by then.

Thank you so long, Anton

[sutty]

Hi Alex!

I've changed from MDP472 to DS402, but still the same bad result as before. The function ecattypedsdo() returns nan all the way.

???!

[Alex Anikstein]

Sutty,

 

Can you issue the following 3 commands exactly as-is and then post a screen shot of the terminal window/response? The first two may take a little bit to get a response (the second in particular may take a while), so I'd issue them one at a time and wait in between. This would be with EtherCAT disabled (the second command will re-initialize the ethercat stack entirely; if EtherCAT was enabled, this will disable it anyways and may fault slaves).

 

ecat slaves

ecat reset

l0=ecattypedsdo(0,0,1,$1000,0,0,4) l0

[sutty]

Hi Alex!

Well the setting changes now and then. At the moment I run 3 drives (EL7211-0011, EL7031, EL7211-0010) and 5 IO-terminals.

Here the results of the 3 cmds:

 

ecat slaves

0 VID=$00000002 PC=$044C2C52 0:0 OP + Slave_1001 [EK1100]

1 VID=$00000002 PC=$1C2B3052 0:1 OP + Slave_1002 [EL7211-0011]

2 VID=$00000002 PC=$1B773052 0:2 OP + Slave_1003 [EL7031]

3 VID=$00000002 PC=$1C2B3052 0:3 OP + Slave_1004 [EL7211-0010]

4 VID=$00000002 PC=$07D43052 0:4 OP + Slave_1005 [EL2004]

5 VID=$00000002 PC=$07D43052 0:5 OP + Slave_1006 [EL2004]

6 VID=$00000002 PC=$03FA3052 0:6 OP + Slave_1007 [EL1018]

7 VID=$00000002 PC=$03EC3052 0:7 OP + Slave_1008 [EL1004]

8 VID=$00000002 PC=$03EC3052 0:8 OP + Slave_1009 [EL1004]

ecatreset

Stopping ACONTIS communication

Starting ACONTIS communication

Restarting ACONTIS stack

 

Licenses granted by /opt/etherlab/etc/sysconfig/.ethercat: 8; MACID:00:50:C2:4D:79:9D

 

Ecat Type: 1; ECAT License for 32 axis

 

0 VID=$00000002 PC=$044C2C52 0:0 OP + ??v?"

1 VID=$00000002 PC=$1C2B3052 0:1 SAFEOP + ??v?"

2 VID=$00000002 PC=$1B773052 0:2 SAFEOP + ??v?"

3 VID=$00000002 PC=$1C2B3052 0:3 SAFEOP + ??v?"

4 VID=$00000002 PC=$07D43052 0:4 OP + ??v?"

5 VID=$00000002 PC=$07D43052 0:5 OP + ??v?"

6 VID=$00000002 PC=$03FA3052 0:6 OP + ??v?"

7 VID=$00000002 PC=$03EC3052 0:7 OP + ??v?"

8 VID=$00000002 PC=$03EC3052 0:8 OP + ??v?"

l0=ecattypedsdo(0,0,1,$1000,0,0,4) l0

L0=nan

[Alex Anikstein]

Interesting. In that case, the slave that's not responding is actually the EK1100, as the ecattypedsdo command as formatted is talking to Slave 0.

 

Can you try to re-issue the same 3 commands, but with the EL7211-0011 as the only slave device physically connected?

[sutty]

EK1100 is the ECAT-coupler, and needed absolutely. I could test EK1100 together with EL7211-0011

[Alex Anikstein]

Ah, sorry--I forgot that Beckhoff I/O shows up as individual slaves, as opposed to just multiple modules of a single slave, and didn't recognize the coupler part number. Yes, in that case please try with just the EK1100 and the EL7211-0011. If "ecat slaves" shows the EL7211 as Slave 1 instead of Slave 0 as I suspect it will (the 0 in the far left of the response, or the "0:1" in the middle of the response string), please change the second argument of ecattypedsdo to a "1" (so, ecattypedsdo(x,1,x,x,x,x,x) instead of ecattypedsdo(x,0,x,x,x,x,x)).

[sutty]

Hi Alex!

I set up EK1100 and EL7211-0011 and issued ecatslaves, ecatreset, ecattypedsdo(). Still bad results:

 

ecatslaves

0 VID=$00000002 PC=$044C2C52 0:0 PREOP + Slave_001

1 VID=$00000002 PC=$1C2B3052 0:1 PREOP + Slave_002

ecatreset

Stopping ACONTIS communication

Starting ACONTIS communication

Restarting ACONTIS stack

 

Licenses granted by /opt/etherlab/etc/sysconfig/.ethercat: 8; MACID:00:50:C2:4D:79:9D

 

Ecat Type: 1; ECAT License for 32 axis

 

0 VID=$00000002 PC=$044C2C52 0:0 PREOP + ?v?"

1 VID=$00000002 PC=$1C2B3052 0:1 PREOP + ?v?"

l0=ecattypedsdo(0,1,1,$8010,$15,0,4) l0

L0=nan

l0=ecattypedsdo(0,1,1,$1000,0,0,4) l0

L0=nan

ECAT[0].Enable=1

ecatslaves

0 VID=$00000002 PC=$044C2C52 0:0 OP + Slave_1001 [EK1100]

1 VID=$00000002 PC=$1C2B3052 0:1 OP + Slave_1002 [EL7211-0011]

l0=ecattypedsdo(0,1,1,$8010,$15,0,4) l0

requested data size: 4 and received data size: 20 do not match

L0=nan

l0=ecattypedsdo(0,1,1,$1000,0,0,4) l0

L0=nan

l0=ecattypedsdo(0,1,1,$8010,$15,0,4) l0

requested data size: 4 and received data size: 20 do not match

L0=nan

 

??

We could start a remote-session - if that would help to advance here!