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Position Command over EtherCAT with LabVIEW

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Currently I'm trying to resurrect a system that hasn't been used in a few years and struggling getting things back operational from a software side.  I'm utilizing a National Instruments PXI chassis as the Ethercat master to talk to an AKD drive to do very simple position control.  The last time this system worked correctly we were utilizing LabVIEW 2013 with the AKD_Twincat.xml.   The drive itself was utilizing firmware version 01-13-XX-XXX (not sure which exactly one) and had utilized previous versions successfully.    Since the last time this was used, the only changes that should have affected the operation is upgrading to Labview 2016, which is what we currently are using.   One issue I have seemed to overcome in 2016 is getting it to use the proper xml file we used before.  It has built in AKD files.

The issue I'm having is whenever I send the command to enable the drive , I immediately get a F439 error (Following error magnitude fault) and the drive does move even though it shouldn't.  Before I enable the drive I give the command HOME.SET to zero out the position.  I also double checked looking the Ethercat variables that Position Command and Position Actual Value are reading zero.   After enabling the drive, the command is still at zero on the Labview side, but in Workbench it received some value.   The drive and motor work fine in Service Mode.  When changed from Fieldbus to Analog mode, when i enable the drive over the Ethercat link it doesn't fault like in Fieldbus mode.   With that one would think the drive setup is fine.

With that all being said, any ideas what is going on?  I've read in the Ethercat manual that the position command (6062h) is not supported in the firmware, but worked just fine in 2014.   I've tried the latest and greatest firmware and also the latest version we used back in 2014 the last time this worked correctly with the same results.  Is there a particular parameter I can look at in workbench that is equivalent to the 6062h?  Should I bite the bullet and switch over to the Interpolated Position Command?  What else has to be done either from a value standpoint or drive setup standpoint to do that?  Any insight is greatly appreciated!

TonyP

 

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f you go to the Limits Screen in WorkBench and set Maximum Position Error = 0.0 "PL.ERRFTHRESH" that will turn off the position error monitoring. I am suggesting you do this only to allow you to troubleshoot and evaluate the system, make sure if the axis runs away it will not damage anybody or equipment. You will need to enter a appropriate value back in the Maximum Position Error window for the systems normal operations.

For any/all questions related to Labview and all Kollmorgen items, please contact NI. (Kollmorgen is instructed to direct these types of questions to NI. This is requested by NI.) We do not know their products, but they know, represent and sell ours.
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