Ethercat with EL6751 CanOpen Master and JAT Servo Drives

JimPanski
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06 Feb 2020 10:13 #156621 by JimPanski

Ethercat with EL6751 CanOpen Master and JAT Servo Drives was created by JimPanski

Hi Forum,

I have an ongoing Setup with Beckhoff Ethercat components and CanOpen Servodrives.
For the first steps I am using only the BK1100 with an EL6751 and one drive attached.
I already set this up in Twincat 3.1.
Now my problem is to export the xml description in twincat for using it on the linuxcnc ethercat-config xml file.
Can anybody lead me a way to do this?

Thanks in advance!
Conny

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chimeno
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09 Feb 2020 17:55 #156898 by chimeno

Replied by chimeno on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives

Hi @JimPanski
This device is not configured in linuxcnc-ethercat, you will have to create using the generic one, I will attach a configuration finalizing EL6751, first you have to send the configuration and then load the PDOs, I hope it helps you.

regards
Chimeno

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JimPanski
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10 Feb 2020 16:02 - 10 Feb 2020 17:37 #156965 by JimPanski

Replied by JimPanski on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives

Hello Chimeno,

first of all thank you very much for your post!
Unfortunately with this config the el6751 stays in preop.
Dmesg says: "sdo download 0x8003 aborted" subindex doesnt exist.
It seems that the config you posted is this one mr. brosette uses with those berger lahr type of drives.

My problem is in general how i can set those sdos up the right way because in my twincan setup i can communicate with my drive.
I attached the needed sdos in this .pdf file.

Maybe this can help you make me the setup of the ethercat-config.xml understandable

if you need more input i can also search in the documents for this drive.

Thank you!
Conny

Last edit: 10 Feb 2020 17:37 by JimPanski. Reason: attachment corrected

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chimeno
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11 Feb 2020 19:05 #157092 by chimeno

Replied by chimeno on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives

Hi @JimPanski
can you pass me the TWINCAT3 project to see if I can help you?

regards
Chimeno

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JimPanski
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12 Feb 2020 10:35 #157151 by JimPanski

Replied by JimPanski on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives

Hi Chimeno,

i hope the attached archive works for you. This is the archive of my basic setup in Twincat.
Thank you for your help!

Greetings
Conny

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chimeno
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13 Feb 2020 20:41 - 13 Feb 2020 20:44 #157318 by chimeno

Replied by chimeno on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives

Hi @JimPanski
thanks for providing the configuration, I attached a new file with the proportionate configuration, it is not complete but if there is any progress, I do not have the device and it is difficult to prove it.
Greeting
Chimeno

Last edit: 13 Feb 2020 20:44 by chimeno.

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JimPanski
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19 Feb 2020 21:55 - 19 Feb 2020 21:56 #157901 by JimPanski

Replied by JimPanski on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives

Hi Chimeno,

finally I got time for testing:

Warning: Spoiler!

[26338.866289] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[26338.870305] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration".
[26338.878321] EtherCAT 0-1: Acknowledged state PREOP.
[26338.882332] EtherCAT 0: Slave states on main device: PREOP, OP.
[26339.861153] EtherCAT 0: Domain 0: Working counter changed to 0/3
[26339.861154] .
[26385.002571] EtherCAT 0: Master thread exited.
[26385.002581] EtherCAT 0: Starting EtherCAT-IDLE thread.
[26385.002617] EtherCAT ERROR 0-0: Failed to receive AL state datagram:
[26385.002620] Datagram
[26385.002621] initialized
[26385.002622] .
[26385.002628] EtherCAT 0: Releasing master...
[26385.003200] EtherCAT 0: Released.
[26385.119901] EtherCAT 0: Slave states on main device: PREOP.
[26385.294546] EtherCAT WARNING: Datagram ffff8a6374aaa678 (master-fsm) was SKIPPED 1 time.
[26426.248972] EtherCAT: Requesting master 0...
[26426.248975] EtherCAT: Successfully requested master 0.
[26426.249103] EtherCAT 0: Domain0: Logical address 0x00000000, 7 byte, expected working counter 3.
[26426.249104] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 7 byte, type LRW.
[26426.252131] EtherCAT 0: Master thread exited.
[26426.252134] EtherCAT 0: Starting EtherCAT-OP thread.
[26426.252163] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[26426.584824] EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!
[26426.584826] EtherCAT WARNING 0-1:
[26426.584827] Currently mapped PDO entries:
[26426.584828] (none)
[26426.584828] . Entries to map:
[26426.584829] 0x7000:01/16

[26426.584831] EtherCAT WARNING 0-1: Slave does not support assigning PDOs!
[26426.584832] EtherCAT WARNING 0-1:
[26426.584832] Currently assigned PDOs:
[26426.584833] (none)
[26426.584833] . PDOs to assign:
[26426.584834] 0x1600

[26426.596856] EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!
[26426.596857] EtherCAT WARNING 0-1:
[26426.596858] Currently mapped PDO entries:
[26426.596858] (none)
[26426.596859] . Entries to map:
[26426.596860] 0x6000:01/16

[26426.608880] EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!
[26426.608881] EtherCAT WARNING 0-1:
[26426.608881] Currently mapped PDO entries:
[26426.608882] (none)
[26426.608882] . Entries to map:
[26426.608883] 0xA000:01/8
[26426.608884]
[26426.608884] 0xF100:01/8
[26426.608885]
[26426.608885] 0xF100:03/1
[26426.608886]
[26426.608886] 0xF100:05/1
[26426.608887]
[26426.608887] 0xF100:04/1
[26426.608888]
[26426.608888] 0xF100:02/1
[26426.608889]
[26426.608889] 0xA000:02/1

[26426.608890] EtherCAT WARNING 0-1: Slave does not support assigning PDOs!
[26426.608891] EtherCAT WARNING 0-1:
[26426.608891] Currently assigned PDOs:
[26426.608892] (none)
[26426.608892] . PDOs to assign:
[26426.608893] 0x1A00
[26426.608893]
[26426.608893] 0x1A80

[26426.615562] EtherCAT 0: Domain 0: Working counter changed to 2/3
[26426.615563] .
[26426.624924] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[26426.628937] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration".
[26426.636965] EtherCAT 0-1: Acknowledged state PREOP.
[26426.640979] EtherCAT 0: Slave states on main device: PREOP, OP.
[26427.619539] EtherCAT 0: Domain 0: Working counter changed to 0/3

this happens when i start it with the config file attached.
The only different from yours: This config file has only the 2 0x28FF set to the right values like i posted it before. (the win Twincat wont run with standard 1ms synchtime of the servo drive)

Sadly with your .xml File i also had no luck:

Warning: Spoiler!

In the meantime i think I got a better overview in Twincat, so that I could finally find the COE Startup SDOs which were used in the config xml file.
Do you have any further hints for me?
Thank you for your help!

Greetings
Conny

Last edit: 19 Feb 2020 21:56 by JimPanski.

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JimPanski
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28 Feb 2020 10:44 #158739 by JimPanski

Replied by JimPanski on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives

Hi Chimeno,

Do you happen to have the such a EL6751 device available? I am asking because I am not getting any furher because I dont know what else i can also try.
So far I could find that "plopes9000" had likely the same issue (seen here at the ethercat thread ) but sadly no solution was posted

Greetings
Conny

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chimeno
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29 Feb 2020 14:16 - 29 Feb 2020 14:16 #158811 by chimeno

Replied by chimeno on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives

Hi @Conny,

Do you happen to have the such a EL6751 device available?

I do not have this device, I never use it, I can not help you much about this, although you can try to scan through the WIRESHARK program the data transmission that TWINCAT performs and see what is happening and replicate it in Linux, you can also publish it and look at it.

regards
Chimeno

Last edit: 29 Feb 2020 14:16 by chimeno.

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JimPanski
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02 Mar 2020 07:55 #158948 by JimPanski

Replied by JimPanski on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives

Hi Chimeno,

thanks for your offer. I will try to wireshark asap.
Do you think that may help If you have such a EL6751 and maybe one servo drive at hand? If you are interested I can provide both devices to you.
In the meantime I hope I can reach to plopes and try to get some hints.
Thank you very much!

regards
Conny

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Ethercat with EL6751 CanOpen Master and JAT Servo Drives

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