https://forge.codesys.com/forge/talk/Engineering/thread/47a7bf0e7d/2021-10-14T12:09:26.305000ZRecent posts to SP6 to SP17 - Lose axes control after device PDO change2021-10-14T12:09:26.305000Z2021-10-14T12:09:26.305000ZElad_Amirahttps://forge.codesys.com/u/eladamira/https://forge.codesys.comad9736a74b3050215a25c35b3b07c088349a7c6b

<div class="markdown_content"><p>Hi,<br/> After too long, we are upgrading from Codesys SP6 to SP17<br/> and we encounter some problems with our existing project.<br/> We are using an Advantech UNO-2484G controller</p> <p>One of our ethercat devices is an ACS controller (Control 2 axes).<br/> When we use it with the default telegram settings it works fine.<br/> but, when adding additional data to the telegram - for expample reading the position error, we lose control over the axes (can't enable motor)</p> <p>after some investigation we found that after the change in the telegram there is an address mismatch between the settings on the device and the setting on the axis.<br/> On the old version, we didn’t have the IO mapping window for every axis device (in the picture).</p> <p>Picture1-1 -(Before additional data on telegram)<br/> <img src="./attachment/device11.PNG" width="50%"/></p> <p>On the new version, when we add additional data to the PDO list, the addresses change only on that window. The device IO mapping window do not change</p> <p>Picture2-1 - (Additional data added)<br/> <img src="./attachment/device21.PNG" width="50%"/></p> <p>Picture2-2 - (Adresses change on axis)<br/> <img src="./attachment/device22.png" width="50%"/></p> <p>Picture2-3 - (address didn’t change on device)<br/> <img src="./attachment/device23.png" width="50%"/></p> <p>ACS engineers don't know this issue, and dont have any updated XML<br/> We dont see that issue on other devices (for example ControlTechnique drives)</p> <p>Did anyone encountered any similar issue? </p> <p>Thanks!<br/> Elad</p></div>