CiA 402 Folder Missing
- Konstantin
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04 Mar 2026 16:20 - 04 Mar 2026 16:29 #343849
by Konstantin
Replied by Konstantin on topic CiA 402 Folder Missing
@andrax
How do you know that the vid and pid are wrong? I have set them in the .xml file as per the manufacturer .xml when I created the configuration. Attached is the .xml file.
The "dmesg | grep ethercat" still does not seem to work, I executed the command sequence you posted and it just outputs a new row in the terminal.
I am still unaware why the synchronization error keeps appearing, cables are changed and I also have grounding on the metal parts of the bench.
Perhaps, there are some settings in the servo itself that need to be configured. I still think about the fixed and variable PDO mapping, if it could be the reason for this behaviour. There is a warning that says - 1 datagram UNMATCHED!.
How do you know that the vid and pid are wrong? I have set them in the .xml file as per the manufacturer .xml when I created the configuration. Attached is the .xml file.
The "dmesg | grep ethercat" still does not seem to work, I executed the command sequence you posted and it just outputs a new row in the terminal.
I am still unaware why the synchronization error keeps appearing, cables are changed and I also have grounding on the metal parts of the bench.
Perhaps, there are some settings in the servo itself that need to be configured. I still think about the fixed and variable PDO mapping, if it could be the reason for this behaviour. There is a warning that says - 1 datagram UNMATCHED!.
Last edit: 04 Mar 2026 16:29 by Konstantin.
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- andrax
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04 Mar 2026 17:44 - 04 Mar 2026 17:46 #343857
by andrax
Replied by andrax on topic CiA 402 Folder Missing
Sorry, my mistake, I misread something.
Your sync errors are gone.
But there is another problem,
Your output ethercat pdos:
[/code]
[/code]
[/code][/code]
Your sync errors are gone.
But there is another problem,
Your output ethercat pdos:
[code] RxPDO 0x1701 "RxPDO"
PDO entry 0x6040:00, 16 bit, "ControlWord"
PDO entry 0x607a:00, 32 bit, "Target position"
PDO entry 0x60b8:00, 16 bit, "Touch probe function"
PDO entry 0x6060:00, 8 bit, "Modes of operation"
PDO entry 0x0000:00, 0 bit, "Gap"
PDO entry 0x0000:00, 0 bit, "Gap"
PDO entry 0x0000:00, 0 bit, "Gap"
PDO entry 0x0000:00, 0 bit, "Gap"
PDO entry 0x0000:00, 0 bit, "Gap"
PDO entry 0x0000:00, 0 bit, "Gap"
SM3: PhysAddr 0x1400, DefaultSize 15, ControlRegister 0x20, Enable 1
TxPDO 0x1b01 "TxPDO"
PDO entry 0x603f:00, 16 bit, "Error Code"
PDO entry 0x6041:00, 16 bit, "statusWord"
PDO entry 0x6064:00, 32 bit, "Position actual value"
PDO entry 0x6077:00, 16 bit, "Torque actual value"
PDO entry 0x60f4:00, 32 bit, "Following error actual value"
PDO entry 0x6061:00, 8 bit, "Modes of operation display"
PDO entry 0x0000:00, 0 bit, "Gap"
PDO entry 0x0000:00, 0 bit, "Gap"
PDO entry 0x0000:00, 0 bit, "Gap"
PDO entry 0x0000:00, 0 bit, "Gap"Your XML:[code][code]<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="control-word" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="control-mode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
<pdoEntry idx="607C" subIdx="00" bitLen="32" halPin="home-offset" halType="s32"/>
<pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="homing-method" halType="s32"/>
<pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="homing-high-velocity" halType="u32"/>
<pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="homing-low-velocity" halType="u32"/>
<pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="homing-acceleration" halType="u32"/>[/code]
[code]The addresses are missing in the pdos, which is apparently why the errors occur.
However, the addresses are found in the sdos.
I don't know if they need to be configured manually. What does the manual say?
Last edit: 04 Mar 2026 17:46 by andrax.
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