https://forge.codesys.com/forge/talk/Engineering/thread/8c47fb4791/2022-03-14T14:41:19.401000ZRecent posts to Ethercat INVT -> Yaskawa drive, axis_ref, virtual master2022-03-14T14:41:19.401000Z2022-03-14T14:41:19.401000Zforesthttps://forge.codesys.com/u/forest/https://forge.codesys.com86a4fe0ccd5834301f545dfd7aefecdcd7d9b985

<div class="markdown_content"><p>Hi, I did try again, and went a bit deeper into thing. I get this uiDriveInterfaceError = 2, and I only get some explanation that it is Drive interface error number, but it does not mean anything known to me.<br/> strDriveInterfaceError is SDO write error 0x08.</p> <p>I am also placing here DSP402 configuration.. Not sure if I have to change anything.<br/> <img src="./attachment/Capture01.PNG" width="50%"/><br/> <img src="./attachment/Capture02.PNG" width="50%"/><br/> <img src="./attachment/Capture05.PNG" width="50%"/></p></div>

2022-03-14T14:41:16.038000Z2022-03-14T14:41:16.038000Zforesthttps://forge.codesys.com/u/forest/https://forge.codesys.com94b8d3f64399a8eb7a4f4823d9836e464ec7fdf2

<div class="markdown_content"><p>Hi, I did try again, and went a bit deeper into thing. I get this uiDriveInterfaceError = 2, and I only get some explanation that it is Drive interface error number, but it does not mean anything known to me.<br/> strDriveInterfaceError is SDO write error 0x08.</p> <p>I am also placing here DSP402 configuration.. Not sure if I have to change anything.<br/> <img src="./attachment/Capture01.PNG" width="50%"/><br/> <img src="./attachment/Capture02.PNG" width="50%"/><br/> <img src="./attachment/Capture05.PNG" width="50%"/></p></div>

2022-03-09T16:00:21.818000Z2022-03-09T16:00:21.818000Zforesthttps://forge.codesys.com/u/forest/https://forge.codesys.com6f850091bce2265a98dbe03e778dad6a198dbaa2

<div class="markdown_content"><p>Hi, still I was not able to change it. I think drive is still not listening through SoftMotion (have to point out from my first post, that when I directly force signals for output, and add some speed reference through same table, drive is spinning motor.)<br/> Not sure, if I should update SoftMotion Version, in project is 4.5.1.0 and I cannot download 4.10.0.0.<br/> Now I even erased MainTask, just to see if there is any change. I checked fbError field, and I have SMC_WP_SENDING_ERROR when I try to MC_power it on. Also SMC_FB_WAS_NOT_CALLED_DURING_MOTION when I try MoveVelocity.<br/> I see there is as well some DriveInterfaceError.<br/> Here are pictures. (I could also send version of program if someone is interested.)<br/> <img src="./attachment/Capture04.jpg" width="50%"/><br/> <img src="./attachment/Capture05.jpg" width="50%"/><br/> <img src="./attachment/Capture06.jpg" width="50%"/></p></div>

2022-03-08T19:33:19.290000Z2022-03-08T19:33:19.290000Zeschwellingerhttps://forge.codesys.com/u/eschwellinger/https://forge.codesys.com722b6bd2de34982356e9e66645d6427f4f801c47

<div class="markdown_content"><p>if you use SoftMotion with DS402 generic driver:<br/> the mode should be either:<br/> 0x08: Cyclic synchronous position mode (CSP)<br/> 0x09: Cyclic synchronous velocity mode (CSV)<br/> 0x0A: Cyclic synchronous torque mode (CST)</p></div>

2022-03-07T19:33:01.017000Z2022-03-07T19:33:01.017000Zforesthttps://forge.codesys.com/u/forest/https://forge.codesys.com97c782e7d5ef7eabc49dc72176903d3840f40a61

<div class="markdown_content"><p>Thanks a lot, I will check that in the morning and let you know about results.</p></div>

2022-03-07T19:28:28.834000Z2022-03-07T19:28:28.834000Zeschwellingerhttps://forge.codesys.com/u/eschwellinger/https://forge.codesys.com4b51742b71bad7563f9c40f5e5350b6ec52831cd

<div class="markdown_content"><p>Hi,<br/> in one of the pictures we see that mode of operation is set to 8,<br/> but the mode of operation display is 2.<br/> So the drive does not follow the mode of op request.<br/> This is what you need to analyze first.</p></div>

2022-03-07T18:25:35.958000Z2022-03-07T18:25:35.958000Zforesthttps://forge.codesys.com/u/forest/https://forge.codesys.comcdc677a40ecd91dd499fdb3a2a759c9b366c283c

<div class="markdown_content"><p>Hi, I am trying to use INVT AX7X-C-1608O, codesys, which is Master and control axis_ref on Yaskawa with EtherCAT (it has SI-ES3 card for Ethercat protocol), which is Slave.</p> <p>Communication works, I get response from drive.<br/> If I place direct addresses in EtherCAT i/o Mapping (Control Word and Speed Ref) then I could start motor, enable and send speed, and motor would spin. This was just proof for me that communication works.</p> <p>My plan is to use virtual axis and than control some slaves with MC blocks (start virtual axis with MC Power, send some Velocity through MC_Velocity and then with MC_GearIn spin motor slaves). This works for me if I use Virtual master and also Virtual Slaves. Not for real Slaves.</p> <p>So first step was to try to Control Yaskawa drive Slave through MC blocks and then later to connect it, GearIn with Virtual Master.<br/> But somehow, when I want to MC_Power up Slave which is connected to Yaskawa drive, I cannot get Enabled signal .I do get some response, I see status bits are changing value and it makes sense, but no Enabled Status. And of course, I also cannot send any velocity to drive. Status for Slave gives SMC_AXIS_STATE.stopping. Like its sequence jumped over "moving", and went straight to "stopping". But I cannot do anything with that state, it never switches to "standstill".</p> <p>Also I think there might be an issue with telegram I am sending to drive.</p> <p>Slave has it's own Generic Axis_Ref I am using here, but seems like it does not match with what drive is expecting. Not sure, maybe you guys know more.</p> <p>(I had to move this post here, because I had issues with uploading pictures.)</p> <p><img src="./attachment/Capture1.JPG" width="50%"/><br/> <img src="./attachment/Capture4.JPG" width="50%"/><br/> <img src="./attachment/Capture5.JPG" width="50%"/><br/> <img src="./attachment/Capture6.JPG" width="50%"/><br/> <img src="./attachment/Capture7.JPG" width="50%"/><br/> <img src="./attachment/Capture8.JPG" width="50%"/></p></div>