We have used this drive in velocity and position mode using the fixed
PDO's see my config below. Have you tried contacting Kollmorgen and do
you have the latest firmware?
/* Master 0, Slave 0, "AKD"
* Vendor ID: 0x0000006a
* Product code: 0x00414b44
* Revision number: 0x00000002
*/
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x607a, 0x00, 32},
{0x6040, 0x00, 16},
{0x6064, 0x00, 32},
{0x6041, 0x00, 16},
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1724, 2, slave_0_pdo_entries + 0},
{0x1b24, 2, slave_0_pdo_entries + 2},
};
ec_sync_info_t slave_0_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
{0xff}
};
On Tue, 2011-07-26 at 16:38 -0400, Holly wrote:
>
>
> I have tried changing the definition to
>
> I think the problem is with your domain1_regs. It should be like:
>
> const static ec_pdo_entry_reg_t domain1_regs[] = {
> {0, 0, AKD_ID, 0x1600, 0, &akd_out }, //0x1600
> {0, 0, AKD_ID, 0x1A00, 0, &akd_in }, //0x1A00
> {}
> };
>
>
> with no success.
>
>
> Without calling ecrt_domain_reg_pdo_entry_list I can use the ethercat
> config -v command
> and see the free mapped PDO's. The ethercat pdos -v command tool
> reports nothing.
>
> I have seen a few threads indicating that the SII interface is
> incomplete for certain servo drives?
>
> I am currently trying to use a Kollmorgen AKD. The TwinCAT software
> appears be able to free map the PDO's.
>
> I have been provided with the latest XML file and have tried using
> TwinCAT to write new SII contents to the EEPROM.
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