Motion Control and Motor Drives
Maxon EPOS4 using EtherCAT interface
Hello community.
I'm currently implementing Maxon EPOS4 motor driver with cRIO EtherCAT interface. As there is no SoftMotion Drive Interface (SDI) support for EPOS4, I had to manually configure the CANopen over EtherCAT (CoE) interface.
I had successfully imported ESI file and added Cyclic Synchronous Position (CSP) module of EPOS4 as can be seen in the project below.
I configured all the PDO mapping referring the firmware specification using SDO communication in the configuration mode of cRIO and pre operational state of EPOS4, and ready to switch to active mode/safe operational state.
The table below is the PDO mapping conducted with SDO communication.
|
ID-sub(hex) |
Data(hex) |
Description |
|
F030-00 |
01 |
# of configured modules |
|
F030-01 |
68 0000 04 |
Module 1 |
|
1C12-00 |
0 |
SYNC manager 2 PDO assignment Number of assigned RxPDOs |
|
1C13-00 |
0 |
SYNC manager 3 PDO assignment Number of assigned TxPDOs |
|
1A00-00 |
0 |
Number of mapped objects in TxPDO 1 |
|
1A00-01 |
6041 00 10 |
TxPDO 1st map: Statusword |
|
1A00-02 |
6064 00 20 |
TxPDO 2nd map: Position actual value |
|
1A00-03 |
606C 00 20 |
TxPDO 3rd map: Velocity actual value |
|
1A00-04 |
6077 00 10 |
TxPDO 4th map: Torque actual value |
|
1A00-05 |
6061 00 08 |
TxPDO 5th map: Modes of operation display |
|
1A00-06 |
60FD 00 20 |
TxPDO 6th map: Digital inputs |
|
1A00-00 |
06 |
Number of mapped objects in TxPDO 1 |
|
1A01-00 |
0 |
Number of mapped objects in TxPDO 2 |
|
1A02-00 |
0 |
Number of mapped objects in TxPDO 3 |
|
1A03-00 |
0 |
Number of mapped objects in TxPDO 4 |
|
1600-00 |
0 |
Number of mapped objects in RxPDO 1 |
|
1600-01 |
6040 00 10 |
RxPDO 1st map: Controlword |
|
1600-02 |
607A 00 20 |
RxPDO 2nd map: Target position |
|
1600-03 |
60B0 00 20 |
RxPDO 3rd map: Position offset |
|
1600-04 |
60B2 00 10 |
RxPDO 4th map: Torque offset |
|
1600-05 |
6060 00 08 |
RxPDO 5th map: Modes of operation |
|
1600-06 |
60FE 01 20 |
RxPDO 6th map: Digital outputs |
|
1600-00 |
06 |
Number of mapped objects in RxPDO 1 |
|
1601-00 |
0 |
Number of mapped objects in RxPDO 2 |
|
1602-00 |
0 |
Number of mapped objects in RxPDO 3 |
|
1603-00 |
0 |
Number of mapped objects in RxPDO 4 |
|
1C12-01 |
1600 |
1st assigned RxPDO |
|
1C12-00 |
01 |
SYNC manager 2 PDO assignment Number of assigned RxPDOs |
|
1C13-01 |
1A00 |
1st assigned TxPDO |
|
1C13-00 |
01 |
SYNC manager 3 PDO assignment Number of assigned TxPDOs |
|
6060-00 |
08 |
CSP mode |
The problem I experiencing is that EPOS 4 refuses to enter to the safe operational state.
Below is the error message from Labview:
"Error -2147138467 occurred at an unidentified location
Possible reason(s):
NI-Industrial Communications for EtherCAT: (Hex 0x8005445D) An SDO request sent by the master has been aborted by the slave device due to incorrect initial commands or incorrect PDO selection. Check the configuration of the slave device on the device's property page and ensure that the configuration is correct."
At the same time, the configured objects of EPOS4 written with SDO automatically changes like this:
|
ID-sub(hex) |
Data(hex) |
Description |
|
1A00-00 |
0 |
Number of mapped objects in TxPDO 1 |
|
1C12-00 |
0 |
Number of assigned RxPDOs |
|
1C13-00 |
0 |
Number of assigned TxPDOs |
I have checked PDO mapping several times but cannot figure out the problem of current setting.
I cannot figure out whether EPOS4 EtherCAT is not compatible with cRIO or is there something I missed. I had tried about a month for this issue but did not find a way to solve this.
I attached ESI file of EPOS4 file that I used in this project.
It would be really appreciated if someone could help solving this issue.
