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OpenEtherCATsociety / SOEM

Simple Open Source EtherCAT Master
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Slave wont go to SAFE OP instead goes to PRE OP + ERROR #758

Closed IceTea2 closed 11 months ago

IceTea2 commented 11 months ago

Hey guys,

really hope you can help me. My problem is, that the motor driver AZD KED wont go into SAFE OP state. Instead i get an error stating invalid output mapping. I used slaveinfo from the SOEM Lib, using Windows 11 64 Bit and Visual Studio 2022. The slave reaches pre op just fine, but as soon as the master sends the command to go into SAFE OP, its LEDs "run" and "err "just start blinking red and green. (0x001D) I included the wireshark data. The problem starts at line 452. (or maybe sooner, as i dont know) Could it possibly be a timing issue or a problem with the Syncmanager(s)?

I didnt change any code from slave info file... Tried debugging and understanding every code line, but i couldnt really figure it out...

I also included the slaveinfo from terminal and the XML/ESI File provided from oriental motor.

Really just started out with ethercat and trying to get into this.

If you need any further info, i would be more than happy to provide. Thanks in advance!

slaveinfoterminal info.zip

prasaanthLvk commented 8 months ago

Hi.., @IceTea2 Can you please let me know how you solved this ?I am also getting the same error the Device is not going to Safe_op and is showing error.If you could help me out it would really be a great help to me.

IceTea2 commented 8 months ago

Hi.., @IceTea2 Can you please let me know how you solved this ?I am also getting the same error the Device is not going to Safe_op and is showing error.If you could help me out it would really be a great help to me.

Which device do you have exactly? in my case, i needed to assign the pdo mapping via sdo_write for both receiving and transmitting pdo. And that right before going to safe op

prasaanthLvk commented 8 months ago

Device :: ClipX BM40IE from HBM

Thank you so much,for your info

Edit :: Apparently there are some PDO mistakes in the esi file provided and the Default PDO mapped by HBM.