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Hello,
I am tring to use S343 hw rev_04.10_nd0+fw_rev_5.86 + ethercat card implemented in twincat plc application. During commisioning I noticed, there are supported flexible mapping PDOs just from >=5.18 firmware + 04.00 hardware rev. When you want to use flexible mapping PDOs for your purpose, you have to set on bit 16 in DRVCNFG3 parameter, via DriveGUI config software to enable Flexible mapping of PDOs.
I did everything from chapter before, I have S343 + ethercat card, I enabled bit 16. But during the Scanning devices in TwinCAT3.1 it scanned just some old config s300/s400/s600/s700. It not allows any flexible mapping pdos, (picture below in red rectangles) in data objects 0x1C12 and 0x1C13. I can run it in velocity mode via this config.
But when I manually added item and select (S300/S700_v40 / S300/S700_v50) newer config there are flexible mapping PDOs in data objects 0x1C12 and 0x1C13.
I can apply 0x1A00 and 0x1600. I can put in my data objectes what I need in my motion task. I need to run it in CSP mode, adress 0x6060 data 8.
I can activate configuration but but when I check data object in DriveGUI EtherCAT menu mapped PDOs, there are no one mapped pdos there. In twincat I applied read PDOs from device, there are 0x1C12 and 0x1C13 and they are empty. It appears more warning n16 and fault F29 in my case.
I am going step by step through free accessible kollmorgen ethercat manual see below, but in case of flexible mapped process data objects it is not working at all in my case.
I need to read more data from driver that are in fixed PDOs.
Is there any guidence or any solution to run drive through flexible PDOs please?
Thanks, for help
Regards Slav
Comments & Answers
feralMaster said ...
Hello,
there in picture XAE_0 with number 1. is my .xml folder and project tree from twinCAT3.1. There I add all these guys as check if they are readable for TwinCAT and they are.
My drive is S343 hw rev_04.10_nd0+fw_rev_5.86 + ethercat card implemented, I enabled bit 16 in DRVCNFG3. I just hit scan devices and online it shows just this guy at picture XAE_1, but in the IO .xml folder it has just s300s700_50.xml file. This file is ignored by the twinCAT configuration and it looks like just download data from online scanned device S300_S400_S600_S700_r8.xml - picture XAE_1.
When I manually added item S300S700_r50.xml under twinCAT master its add it. You can go online but you can not added it into the NC-task. picture XAE_3. It is in the list, but when you select it, the command windows stayes empty. I can added just old stuff config without flexible mapped PDOs.
There it is showed flexible mapped PDOs in picture XAE_2. They are here and I want to work with them, I check 0x1600 and I check 0x1A00. I hit build twinCAT project. All gone, but when I hit button Load PDO info from device, all rectangle of PDO config are blank and all values in NC task are therefore 0.000. picture XAE_4.
I do not know what is wrong in my configuration. Can you help me with trouble shooting please?
Reagrds Slav
Yes, when you go through the
Yes, when you go through the content of my comment higher, there was written I just want to check, if the all .xml files are readable for twinCAT.
There was just S300S700_r50.xml lefted in the IO .xml folder of the twinCAT.
When I started scanning the net, XAE_1, in the IO .xml folder it was just s300s700_50.xml file no others... It looks like that, this file was ignored by the twinCAT configuration and it looks like just download data from online scanned device S300_S400_S600_S700.xml - picture XAE_1. But when I manually added item S300S700_r50.xml under twinCAT master its add it. You can go online through it, but you can not added it into the NC-task. picture XAE_3. It is in the list, but when you select it, the command windows stayes empty.
I can added just old stuff config without flexible mapped PDOs.
There it is showed flexible mapped PDOs in picture XAE_2. They are here and I want to work with them, I check 0x1600 and I check 0x1A00. I hit build twinCAT project. All gone, but when I hit button Load PDO info from device, all rectangle of PDO config are blank and all values in NC task are therefore 0.000. picture XAE_4.
I don't know why TwinCAT
I don't know why TwinCAT would download an online device description instead of using the available xml file. Go to the TwinCAT menu and select EtherCAT Devices -> Reload Device Descriptions. Then scan. See if that works. You may need to talk to Beckhoff about this. Obviously, when manually using the correct device description, the flexible PDO's are available. So the issue is getting the scan to use the xml file instead of downloading from the web.
Hello mr. Coleman,
Hello mr. Coleman,
I am tring to run simplest benchtop configuration of single axis over ethercat the TwinCAT3 and facing to unusual problem of not responding drive on task target position 0x607A in the CSP mode. Drive is setted to run over free mapped PDOs - 1A00 and 1600 PDOs. It has fm 5.98 and hw 04.10. More important information below :
- no error or waring in drive(no synchronization error from ethercat DC)
- task time 8*250us scan like as default
- DC used in 2ms interval
- user units of drive are setted in micrometers
- succesfull scan devices in TwinCAT XAE with ESI file which supporting FreeMapped PDOs
- succesfull configuration, upload to drive and check consistency via DriveGUI
- OPMODE setted to 5 external position
- reading actual position via 0x6064 is working, tested over manual DriveGui - Motion Service spinning subroutine
Which values will be in 0x6060, 0x60C2 at startup please?
Position in 0x607A register are changing with target position from trajectory generator, but motor not spinning in any direction. I spent more then week in reconfiguring of paramters in drive and in twincat solution but with no success.
I will be thankful for any advice.
I am adding drive parameter file for DriveGUI and twincat project on my google drive space at next link " https://drive.google.com/drive/folders/1sPSQXqOWsQUzHhqDYLzVKfMkhIAX0ta… ".
Just for information -
I do not know if it is a feature or it is a bug in this document about configuring of actual ESI/.xml file, which is used during TwinCAT configuration in the "https://www.kollmorgen.com/sites/default/files/public_downloads/srether…;. It has swaped logic in the DriveGUI DRVCNFG3 parameter and in the DriveGUI-Help too.
When you want to use new configuration with Free Mapped PDOs (FW 5.16 and newer), you have to have 16bit setted to 0 , but! when you have 16bit in 1, you will using old ESI/.xml file during the scanning devices in the TwinCAT configuration. It works with FW 5.16 and newer too, but you will not have access to usefull feature of Free Mapped PDOs. Two way options of ESI/.xml file config probably supporting old drives such as S600 and S400 drivers and S300 and S700 drives with older FW versions too.
There is right configuration of 16bit in DRVCNFG3 parameter via DriveGUI in the next link "http://www.wiki-kollmorgen.eu/wiki/DanMoBilder/file/s300s700help/etherc…;.
Regards Slav
Slav, I'm handing this over
Slav, I'm handing this over to the Kollmorgen tech support group in Europe. They can work with you directly.
Make sure to place the latest
Make sure to place the latest xml file (s300s700_50.xml) in the EtherCAT folder. The directory path is different for TwinCAT2 and TwinCAT3.
TwinCAT2: C:\Program files\TwinCAT\IO\EtherCAT
TwinCAT3: C:\TwinCAT\3.1\Config\Io\EtherCAT
Make sure you delete any older xml files for the S300 in that folder.
In TwinCAT, go to the TwinCAT menu and select EtherCAT Devices -> Reload Device Descriptions.
Scan for devices and boxes.
When you see PDO assignments 1A00, 1A01, 1A02, 1A03 and 1600, 1601, 1602, 1603, place a checkmark in the checkboxs to select the assignments you want to use. Map the assignments with the objects you want. Then activate the configuration.
Your picture XAE_0.png shows
Your picture XAE_0.png shows 5 xml files for the S300 (also for the S700, S400, and S600) in the TwinCAT folder. You need to delete 4 of the 5 files. If you have multiple xml files for the S300 in that folder, then TwinCAT can use any of those. Remove all but the newest one.