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Hi at all, I'm in crisis

I've several problems using SanyoDenky drivers with Codesys.

CASE 1 - RS3 drivers:

EtherCAT chain:
1. EtherCAT coupler beckhoff + beckhoff I/O(3 input + 2 output, 5 modules in total)
2. Driver RS3
3. Driver RS3
4. Driver RS3
5. Inverter Bonfiglioli ACU

When master tries to initialize the EtherCAT chain almost every driver go in error.

Here there are some error messages:

1009 to 1011 are drivers --> Bonfiglioli is before drivers

 
952745843: Cmp=IoDrvEtherCAT, Class=1, Error=0, Info=0, pszInfo= SDO write ok: Address: 1010 Index: 16#1C13 SubIndex: 1 Data: 16#1B00 Result: 16#00
952745844: Cmp=IoDrvEtherCAT, Class=1, Error=0, Info=0, pszInfo= SDO write ok: Address: 1010 Index: 16#1C13 SubIndex: 0 Data: 16#01 Result: 16#00
952745844: Cmp=IoDrvEtherCAT, Class=2, Error=0, Info=0, pszInfo=!!!! AL Status read from slave address 1010 status 16#26
952745847: Cmp=IoDrvEtherCAT, Class=4, Error=0, Info=0, pszInfo=**** SDO timeout Address: 1011 Index: 16#1600 SubIndex: 0 Data: 16#00 Result: 16#00
952745847: Cmp=IoDrvEtherCAT, Class=2, Error=0, Info=0, pszInfo=!!!! AL Status read from slave address 1010 status 16#26
952745854: Cmp=IoDrvEtherCAT, Class=2, Error=0, Info=0, pszInfo=!!!! watchdog for opmode expired. Address: 1010
952745856: Cmp=IoDrvEtherCAT, Class=4, Error=0, Info=0, pszInfo=**** SDO timeout Address: 1011 Index: 16#1600 SubIndex: 0 Data: 16#02 Result: 16#00

1008 to 1010 are drivers --> Bonfiglioli is after Drivers

952751931: Cmp=IoDrvEtherCAT, Class=2, Error=0, Info=0, pszInfo=!!!! AL Status read from slave address 1008 status 16#1B
952751931: Cmp=IoDrvEtherCAT, Class=2, Error=0, Info=0, pszInfo=!!!! AL Status read from slave address 1009 status 16#1B
952751931: Cmp=IoDrvEtherCAT, Class=2, Error=0, Info=0, pszInfo=!!!! AL Status read from slave address 1010 status 16#1B
952751931: Cmp=IoDrvEtherCAT, Class=2, Error=0, Info=0, pszInfo=!!!! watchdog for opmode expired. Address: 1008
952751931: Cmp=IoDrvEtherCAT, Class=4, Error=0, Info=0, pszInfo=**** Warning:  number of slaves has changed or is different to the configuration!
952751931: Cmp=IoDrvEtherCAT, Class=2, Error=0, Info=0, pszInfo=!!!! watchdog for opmode expired. Address: 1009
952751931: Cmp=IoDrvEtherCAT, Class=2, Error=0, Info=0, pszInfo=!!!! AL Status read from slave address 1008 status 16#1B
952751931: Cmp=IoDrvEtherCAT, Class=4, Error=0, Info=0, pszInfo=**** Warning:  number of slaves has changed or is different to the configuration!
952751931: Cmp=IoDrvEtherCAT, Class=2, Error=0, Info=0, pszInfo=!!!! AL Status read from slave address 1009 status 16#1B
952751931: Cmp=IoDrvEtherCAT, Class=2, Error=0, Info=0, pszInfo=!!!! watchdog for opmode expired. Address: 1010
952751931: Cmp=IoDrvEtherCAT, Class=2, Error=0, Info=0, pszInfo=!!!! AL Status read from slave address 1010 status 16#1B
952751931: Cmp=IoDrvEtherCAT, Class=4, Error=0, Info=0, pszInfo=**** Warning:  number of slaves has changed or is different to the configuration!
952751931: Cmp=IoDrvEtherCAT, Class=2, Error=0, Info=0, pszInfo=!!!! AL Status read from slave address 1008 status 16#1B
952751931: Cmp=IoDrvEtherCAT, Class=2, Error=0, Info=0, pszInfo=!!!! AL Status read from slave address 1009 status 16#1B
952751931: Cmp=IoDrvEtherCAT, Class=2, Error=0, Info=0, pszInfo=!!!! AL Status read from slave address 1010 status 16#1B

Furthermore, often the init doesn't work because there is a "check vendorID" error (it never happens on my desk stack for tests).
This happens casually.

In the most fortunate situation all is correctly initialized, but as soon as any operation in which drivers are employed is performed, communication is lost.

On "Startup Parameters" of Sanyo RS2 drivers there are these parameters (default):
- 16#1C32:16#01 SM output parameter Value:2 Bitlength: 8
- 16#1C33:16#01 SM input parameter Value:2 Bitlength: 8
Instead in the RS3 no. I tried to add them, but nothing to do.

This happens even if in the chain there is only a Driver.

Questions:
Are there some parameters to set that are different from those for RS2?
Is it possible that our Codesys EtherCAT master(softmotion) isn't updated to mangage RS3 drivers?

CASE 2:
Assuming that there is a compatibility problem with EtherCAT master, I decided to connect a stack that I usually use for my tests (EtherCAT coupler beckhoff + beckhoff I/O + 3 RS2 drivers).

EtherCAT chain:
1. EtherCAT coupler beckhoff + beckhoff I/O (not those in the stack)
2. Driver RS2
3. Driver RS2
4. Driver RS2
5. Inverter Bonfiglioli ACU

In this case drivers are initialized ok, but they generate "AL.F1.4".

SANMOTION MANUAL:
“Defect in internal circuit of servo amplifier. “
Suggested solution:
■ Replace the servo amplifier.

--> I don't think, in my desk tests they work very well.

“ There is jitter in the transfer frame from master
for the cycle time setting (0x1C32:0x02). “
Suggested solution:
■ Drives with Free Run mode or SYNC0/1 mode in
Synchronous mode.
■ Please check that the jitter of master frame is less than
5us, and transmit the frame exactly.

TESTS
In order to have a configuartion similar to the stack we have done this:
- Deleted Inverter ACU(Bonfiglioli) --> Driver1 = OK Driver2 = AL.F1.4 Driver3 = AL.F1.4
- Change Beckhoff with Stack's Beckhoff --> Driver1 = OK Driver2 = AL.F1.4 or Driver1 = AL.F1.4 Driver2 = OK Driver3 = AL.F1.4

I really can't understand where is the problem.

I hope that someone could help me.

Thanks a lot,
Gianmarco

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Too much initializing problmes with SanyoDenky Drivers

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Too much initializing problmes with SanyoDenky Drivers