Working counter too low (0) for writing SDO

[gkgkgk1215]

Thanks for this useful APIs for the EtherCAT comm. I am trying to run the "standalone" example using Maxon EPOS4 and I got this error.

I guess there is an error during SDO reading/writing. It would be really helpful if you could get me any clue/suggestions.

For your reference, I am using the following conf. files.

[setup.yaml] ethercat_master: time_step: 0.0025 update_rate_too_low_warn_threshold: 50

ethercat_devices:

• type: Maxon name: Maxon configuration_file: device_configurations/maxon.yaml ethercat_bus: enp4s0 ethercat_address: 1

[maxon.yaml] Maxon: config_run_sdo_verify_timeout: 50000 print_debug_messages: true use_raw_commands: false drive_state_change_min_timeout: 2000 drive_state_change_max_timeout: 1000000 min_number_of_successful_target_state_readings: 5

Reading: force_append_equal_error: true force_append_equal_fault: false error_storage_capacity: 100 fault_storage_capacity: 100

Hardware: mode_of_operation:

• CyclicSynchronousTorqueMode
• CyclicSynchronousPositionMode
• CyclicSynchronousVelocityMode position_encoder_resolution: 500 gear_ratio: [1, 1] motor_constant: 23.474 working_voltage: 24.2 pole_pairs: 1 speed_constant: 460 torque_constant: 20.8 max_current: 4500 nominal_current: 1500 min_position: 0 max_position: 0 # Disable checks max_profile_velocity: 10900 quick_stop_decel: 10000 profile_decel: 10000 follow_error_window: 1000000 current_p_gain: 2528.017 current_i_gain: 9540.744 position_p_gain: 1851.991 position_i_gain: 14728.264 position_d_gain: 18.556 velocity_p_gain: 23.675 velocity_i_gain: 2372.879

[zoenglinghou]

Hmm I checked my firmware manual (published on 2020-04, rel9415), your configuration values and memory address seem to be correct. It might be a firmware version mismatch. Maybe you could update your firmware, and/or modify the object dictionaries to the corresponding firmware version.

I am currently not working on the project (as it was really a school project). Apologies that I cannot actively help you debug it.