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. > _______________________________________________ > etherlab-users mailing list > etherlab-users@etherlab.org > http://lists.etherlab.org/mailman/listinfo/etherlab-users Outbound scan for Spam or Virus by Barracuda at Delta Tau _______________________________________________ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users