My configuration:
BeagleBone Black, CODESYS Control for BeagleboneBlack SL, CANbus, CANopen_Manager, TMCM-3110, SM_Drive_GenericDSP402

My issue:
If a "SM_Drive_GenericDSP402" is added to the TMCM-3110 (Trinamic Motion controller), CANopen_Manager logs following:
"SDO Write Error for object 16#60C2sub01"
"SDO Write Error for object 16#60C2sub02"
"SDO Read Error for object 16#6067sub00"

If a "SML_Drive_CAN_GenericDSP402" is added to the TMCM-3110 (Trinamic Motion controller), CANopen_Manager logs following:
"SDO Write Error for object 16#605Dsub00"

Even with unselected PDOs the errors occurs and I can't solve it.

Also it's still unclear when to use the CANopen_Manager instead of CANopen_Manager_Softmotion and SoftMotion axis instead of SoftMotionLight axis.

Cheers
laruso

Hi,
first step is to check if the TMCM-3110 is DS402 capable and ready for SoftMotion Light:
There is this exmaple here:
"c:\Program Files\CODESYS 3.5.16.30\CODESYS\Projects\SoftMotion\4.9.0.0\SoftMotionLight\SML_CompatibilityCheck_DS402.project"
Which should show if it is capable for SoftMotion light or not.
Open the project - Update it to your BBB version ( rightclick in the the device tree)
Add your drive and add DS402generic and do the test.
This is what we need.

These errors occure because the slave does not have these objects.

Regards
Edwin