Ethercat protocol not responding

Hi db1981,

Thanks for the reply,

Note: I have directly connected the servo drive to my PC without any Bus-Coupler like Bechkoff(EK 1100), etc...
Could this be causing any problems?

The response is below for given command.

Command:
ethercat pdos

Response:
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x36, Enable 1
SM1: PhysAddr 0x1080, DefaultSize  128, ControlRegister 0x32, Enable 1
SM2: PhysAddr 0x1100, DefaultSize    6, ControlRegister 0x74, Enable 1
SM3: PhysAddr 0x1400, DefaultSize    6, ControlRegister 0x30, Enable 1
  TxPDO 0x1a01 "2nd Transmit PDO mapping"
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""

Regards
Abhishek
 

you don't need EK1100 etc, you can connect the servo directly to the Ethernet Card.

If this above is realy the full pdo output from the slave, then something with the slaves sii eeprom is wrong.

please try "ethercat pdos" again after a fresh reboot, without trying to start linuxcnc.

Hi db1981,

I rebooted and tried "ethercat pdos"

Response:
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x36, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x32, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 6, ControlRegister 0x74, Enable 1
SM3: PhysAddr 0x1400, DefaultSize 6, ControlRegister 0x30, Enable 1
TxPDO 0x1a01 "2nd Transmit PDO mapping"
PDO entry 0x6041:00, 16 bit, ""
PDO entry 0x6064:00, 32 bit, ""


here the response is same as earlier.
I don't know if there is problem with my Yaskawa Sigma 7 series servo motor drive.
Is there a way to check or read slaves eeprom status.

one more thing I want to ask is that I have the ESI.xml file of the drive, can I use it in place of ethercat_conf.xml.

Regards,
Abhishek

Thats a bit strange. When I looked at a manual (if I got the right one), its a CIA402 driv yet it is not showing the control word (0x6040) but the Status word is present (0x6041)
Maybe Dominic has a better idea.

Hi Rodw,

That is what I also figured out but I thought it only gives Txpdos and was not giving Rxpdos because it didn't established proper communication with the slave.

Hopefully Dominic can point out the mistake.

Thanks and Regards
Abhishek
 

This is a little bit strange, because there should be some kind of standart mapping...


-Maybe you need to configure the ethercat communication / pdos with some software from the drive manufacture, and this can not be done from the ethercat master.

-Or try to reduce your ethercat_xml to a minimal setup. for first step only with the 2 pdos listet above, then try to add SM2 with the controlword only (0x6040). Everytime check if the slave gets op state after starting lcnc. If yes, step for step add the other pdos you want, to try to find out which one is the bad one. May be the drive doesn't has this function.

Hi db1981,

I tried following what you suggested and start adding pdos in ethercat_conf.xml from minimal setup.
And here I found out that:

When I add pdos now to the ethrecat_conf.xml file all pdos shows when I enter "ethercat pdos" command in Terminal.

But now whenever I start Linuxcnc an Error alert start Flashing in Servo Drive(A.A12 Error), which basically means that the Master an Slave are out of Sync.

Now I dont know what the next step should be.

Regards
Abhishek

Hi,

I have fiddle with some ethercat setting and I was thinking about the problem I am facing as my slave doesn't transit from PREOP to SAFEOP .
What I notice is that for

Command: ethercat slaves -v

Response:

=== Master 0, Slave 0 ===
Device: Main
State: OP
Flag: +
Identity:
  Vendor Id:       0x00000539
  Product code:    0x02200301
  Revision number: 0x00080019
  Serial number:   0x00000000
DL information:
  FMMU bit operation: yes
  Distributed clocks: yes, 32 bit
  DC system time transmission delay: 0 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   up    open    yes             -   3223826678           0           0
   1  MII   down  closed  no              -            -           -           -
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x1000/128, TX: 0x1080/128
  Standard  RX: 0x1000/128, TX: 0x1080/128
  Supported protocols: EoE, CoE, FoE
General:
  Group:
  Image name:
  Order number:
  Device name:
  CoE details:
    Enable SDO: yes
    Enable SDO Info: yes
    Enable PDO Assign: yes
    Enable PDO Configuration: yes
    Enable Upload at startup: no
    Enable SDO complete access: no
  Flags:
    Enable SafeOp: no
    Enable notLRW: yes
  Current consumption: 0 mA


Here I notice that in "Flags" section "Enable SafeOp" is no and I think it implies that "SafeOp flag" is not Enabled and I also noticed that my slave directly jumps from PREOP to OP, which is bit weird.

Can anyone can tell me if I need to change the state of Flags for SafeOp to be operational.
And if yes then how should I proceed.

Regards
Abhishek


 

did you add the "dcconf" line to the xml again?

Hi db1981,

I did add "dconf" line in xml.

I noticed that the uplink signal is working fine but some how downlink is not responding.

Regards
Abhishek