https://forge.codesys.com/forge/talk/Motion/thread/715689959d/2020-02-27T18:42:53.517000ZRecent posts to Softmotion with Beckhoff + RPi - drive error2020-02-27T18:42:53.517000Z2020-02-27T18:42:53.517000Zmassaproduxyhttps://forge.codesys.com/u/massaproduxy/https://forge.codesys.com9a2ded7866d0a9ef2628aa8f5b94a35581ba92eb

<div class="markdown_content"><p>EtherCAT message diagnostic :</p> <p>Status read from slave address 1002 status 16#1D: Invalid Output Config</p> <p>...</p></div>

2020-02-27T18:42:52.368000Z2020-02-27T18:42:52.368000Zmassaproduxyhttps://forge.codesys.com/u/massaproduxy/https://forge.codesys.comadde1d1a18428523e9de44b4a4b9948df8e969e2

<div class="markdown_content"><p>Thank you Josep M. Rams for your answer and attention. I change the PGR as you advised but I still face difficulties.</p> <p>Status of the drive (EL7201) is : EtherCAT is not running and No driver found (!!)</p> <p>I also do not know if I change the right way the name of the drive in the "tree device" ?<br/> Where can I found the command :"-&gt; update device to current version" ?</p> <p><img alt="IMG: Status EL7201_0001.JPG" rel="nofollow" src="https://forum.codesys.com//download/file.php?id=3546"/></p> <p><img alt="IMG: Connection.JPG" rel="nofollow" src="https://forum.codesys.com//download/file.php?id=3545"/></p></div>

2020-02-27T18:42:49.162000Z2020-02-27T18:42:49.162000Zjosepmariaramshttps://forge.codesys.com/u/josepmariarams/https://forge.codesys.comaa3bf01bee3e79501568d28a60cbd137371647bb

<div class="markdown_content"><p>Mc_power tells you that the drive is enabled and without error.</p> <p>But you call mc_move absilute with execute directly in true without passing per false.</p> <p>Mc,_moveabsolute works with an edge in execute. It is not necessary(convenient) to put it inside an if. You can put it outside if and change execute from inside if.</p></div>

2020-02-27T18:42:48.024000Z2020-02-27T18:42:48.024000Zmassaproduxyhttps://forge.codesys.com/u/massaproduxy/https://forge.codesys.com433af0800548ef2e9544e79b76675b0903d1be02

<div class="markdown_content"><p>Salut Edwin and Cie !</p> <p>I'm trying to get a Beckhoff servo AM3111 in motion through a drive EL7201 and as you'll notice, I'm a absolute beginner.</p> <p>First of all, the "Run" led of the drive (led 1) is flashing continuously (0.5 sec) : I don't know if it refers to the Bootstrap or the Preop state ?</p> <p>I'm also confused with renaming the SM3_Drive in the device tree <br/> As my CoDeSys version is in french, I don't know where to find the "" <br/> May be it's the reason why I can't activate the drive ?</p> <p>As PLC_PRG, I try the first example of the <span style="color: underline;">CoDeSys_SoftMotion_V2397_E.doc</span> but at the moment, nothing is moving </p> <p>Thank you for your attention</p> <p><img alt="IMG: Capture EL7201.JPG" rel="nofollow" src="https://forum.codesys.com//download/file.php?id=3539"/></p></div>

2020-02-27T18:42:44.763000Z2020-02-27T18:42:44.763000Zeschwellingerhttps://forge.codesys.com/u/eschwellinger/https://forge.codesys.com561c79f477afb1a00f9264b7e158386688f25928

<div class="markdown_content"><p>Hi,<br/> you need to rename the SM3_Drive... in the device tree to 'drive' (or vice versa in the Pou SM3_Drive... as Axis input)<br/> Then rightclick on ethercat master (in the device tree) and -&gt; update device to current version</p> <p>This should give an error free project (maybe also update device an Raspi deivice is needed if not)<br/> Keep in mind that you need for SoftMotion a rt_preempt patched Linux kernel to have the realtime capabilites for SoftMotion with distributed clocks<br/> Search the forum for this (Emlid for example is a ready to use image)</p> <p>BR<br/> Edwin</p> <p><img alt="IMG: Drive.jpg" rel="nofollow" src="https://forum.codesys.com//download/file.php?id=2203"/></p></div>

2020-02-27T18:42:43.505000Z2020-02-27T18:42:43.505000Znwellinghttps://forge.codesys.com/u/nwelling/https://forge.codesys.comcbd0ba2aa4bea5de75e542702a789509f6c109ee

<div class="markdown_content"><p>Hello there,</p> <p>I have tried to get a Beckhoff synchronous servomotor running with Codesys. To get started I tried using the SoftMotionStartupDrive.project file from <a class="" href="http://forum.codesys.com/viewtopic.php?f=22&amp;t=5645&amp;p=14392&amp;lan=en" rel="nofollow">this topic</a>.<br/> However when translating I get the error unknown type drive (sorry the errors are in german but I hope the codes and type names make it comprehensible enough, if not I can translate it all)</p> <div class="codehilite"><pre><span></span><span class="w">                </span><span class="c1">------ Übersetzungslauf gestartet: Applikation: CoDeSys_SP_SoftMotion_RTE_V3.Application -------</span> <span class="w">                </span><span class="n">Code</span><span class="w"> </span><span class="n">typisieren</span><span class="w"> </span><span class="p">...</span><span class="w"></span> <span class="o">[</span><span class="n">FEHLER</span><span class="o">]</span><span class="w">        </span><span class="nl">SoftMotionStartupDrive2</span><span class="p">:</span><span class="w"> </span><span class="k">START</span><span class="w"> </span><span class="o">[</span><span class="n">CoDeSys_SP_SoftMotion_RTE_V3: SPS-Logik: Application</span><span class="o">]</span><span class="p">(</span><span class="k">Element</span><span class="w"> </span><span class="n">ID</span><span class="w"> </span><span class="mi">36</span><span class="p">)</span><span class="err">:</span><span class="w"> </span><span class="nl">C0032</span><span class="p">:</span><span class="w">  </span><span class="n">Typ</span><span class="w"> </span><span class="s1">'Unbekannter Typ: '</span><span class="n">Drive</span><span class="s1">''</span><span class="w"> </span><span class="n">kann</span><span class="w"> </span><span class="n">nicht</span><span class="w"> </span><span class="ow">in</span><span class="w"> </span><span class="n">Typ</span><span class="w"> </span><span class="s1">'REFERENCE TO AXIS_REF_SM3'</span><span class="w"> </span><span class="n">konvertiert</span><span class="w"> </span><span class="n">werden</span><span class="w"></span> <span class="o">[</span><span class="n">FEHLER</span><span class="o">]</span><span class="w">        </span><span class="nl">SoftMotionStartupDrive2</span><span class="p">:</span><span class="w"> </span><span class="k">START</span><span class="w"> </span><span class="o">[</span><span class="n">CoDeSys_SP_SoftMotion_RTE_V3: SPS-Logik: Application</span><span class="o">]</span><span class="p">(</span><span class="k">Element</span><span class="w"> </span><span class="n">ID</span><span class="w"> </span><span class="mi">1</span><span class="p">)</span><span class="err">:</span><span class="w"> </span><span class="nl">C0032</span><span class="p">:</span><span class="w">  </span><span class="n">Typ</span><span class="w"> </span><span class="s1">'Unbekannter Typ: '</span><span class="n">ADR</span><span class="p">(</span><span class="n">Drive</span><span class="p">.</span><span class="n">strDriveInterfaceError</span><span class="p">)</span><span class="s1">''</span><span class="w"> </span><span class="n">kann</span><span class="w"> </span><span class="n">nicht</span><span class="w"> </span><span class="ow">in</span><span class="w"> </span><span class="n">Typ</span><span class="w"> </span><span class="s1">'POINTER TO DWORD'</span><span class="w"> </span><span class="n">konvertiert</span><span class="w"> </span><span class="n">werden</span><span class="w"></span> <span class="o">[</span><span class="n">FEHLER</span><span class="o">]</span><span class="w">        </span><span class="nl">SoftMotionStartupDrive2</span><span class="p">:</span><span class="w"> </span><span class="k">START</span><span class="w"> </span><span class="o">[</span><span class="n">CoDeSys_SP_SoftMotion_RTE_V3: SPS-Logik: Application</span><span class="o">]</span><span class="p">(</span><span class="k">Element</span><span class="w"> </span><span class="n">ID</span><span class="w"> </span><span class="mi">1</span><span class="p">)</span><span class="err">:</span><span class="w"> </span><span class="nl">C0032</span><span class="p">:</span><span class="w">  </span><span class="n">Typ</span><span class="w"> </span><span class="s1">'Unbekannter Typ: '</span><span class="n">__TYPEOF</span><span class="p">(</span><span class="n">Drive</span><span class="p">.</span><span class="n">strDriveInterfaceError</span><span class="p">)</span><span class="s1">''</span><span class="w"> </span><span class="n">kann</span><span class="w"> </span><span class="n">nicht</span><span class="w"> </span><span class="ow">in</span><span class="w"> </span><span class="n">Typ</span><span class="w"> </span><span class="s1">'TYPE_CLASS'</span><span class="w"> </span><span class="n">konvertiert</span><span class="w"> </span><span class="n">werden</span><span class="w"></span> <span class="o">[</span><span class="n">FEHLER</span><span class="o">]</span><span class="w">        </span><span class="nl">SoftMotionStartupDrive2</span><span class="p">:</span><span class="w"> </span><span class="k">START</span><span class="w"> </span><span class="o">[</span><span class="n">CoDeSys_SP_SoftMotion_RTE_V3: SPS-Logik: Application</span><span class="o">]</span><span class="p">(</span><span class="k">Element</span><span class="w"> </span><span class="n">ID</span><span class="w"> </span><span class="mi">0</span><span class="p">)</span><span class="err">:</span><span class="w"> </span><span class="nl">C0032</span><span class="p">:</span><span class="w">  </span><span class="n">Typ</span><span class="w"> </span><span class="s1">'Unbekannter Typ: '</span><span class="n">Drive</span><span class="p">.</span><span class="k">out</span><span class="p">.</span><span class="n">wControlWord</span><span class="s1">''</span><span class="w"> </span><span class="n">kann</span><span class="w"> </span><span class="n">nicht</span><span class="w"> </span><span class="ow">in</span><span class="w"> </span><span class="n">Typ</span><span class="w"> </span><span class="s1">'REFERENCE TO WORD'</span><span class="w"> </span><span class="n">konvertiert</span><span class="w"> </span><span class="n">werden</span><span class="w"></span> <span class="o">[</span><span class="n">FEHLER</span><span class="o">]</span><span class="w">        </span><span class="nl">SoftMotionStartupDrive2</span><span class="p">:</span><span class="w"> </span><span class="k">START</span><span class="w"> </span><span class="o">[</span><span class="n">CoDeSys_SP_SoftMotion_RTE_V3: SPS-Logik: Application</span><span class="o">]</span><span class="p">(</span><span class="k">Element</span><span class="w"> </span><span class="n">ID</span><span class="w"> </span><span class="mi">3</span><span class="p">)</span><span class="err">:</span><span class="w"> </span><span class="nl">C0032</span><span class="p">:</span><span class="w">  </span><span class="n">Typ</span><span class="w"> </span><span class="s1">'Unbekannter Typ: '</span><span class="n">Drive</span><span class="p">.</span><span class="ow">in</span><span class="p">.</span><span class="n">wStatusWord</span><span class="s1">''</span><span class="w"> </span><span class="n">kann</span><span class="w"> </span><span class="n">nicht</span><span class="w"> </span><span class="ow">in</span><span class="w"> </span><span class="n">Typ</span><span class="w"> </span><span class="s1">'REFERENCE TO WORD'</span><span class="w"> </span><span class="n">konvertiert</span><span class="w"> </span><span class="n">werden</span><span class="w"></span> <span class="o">[</span><span class="n">FEHLER</span><span class="o">]</span><span class="w">        </span><span class="nl">SoftMotionStartupDrive2</span><span class="p">:</span><span class="w"> </span><span class="n">PLC_PRG</span><span class="w"> </span><span class="o">[</span><span class="n">CoDeSys_SP_SoftMotion_RTE_V3: SPS-Logik: Application</span><span class="o">]</span><span class="p">(</span><span class="n">Zeile</span><span class="w"> </span><span class="mi">5</span><span class="p">,</span><span class="w"> </span><span class="n">Spalte</span><span class="w"> </span><span class="mi">1</span><span class="w"> </span><span class="p">(</span><span class="n">Impl</span><span class="p">))</span><span class="err">:</span><span class="w"> </span><span class="nl">C0046</span><span class="p">:</span><span class="w">  </span><span class="n">Bezeichner</span><span class="w"> </span><span class="s1">'Drive'</span><span class="w"> </span><span class="n">nicht</span><span class="w"> </span><span class="n">definiert</span><span class="w"></span> <span class="o">[</span><span class="n">FEHLER</span><span class="o">]</span><span class="w">        </span><span class="nl">SoftMotionStartupDrive2</span><span class="p">:</span><span class="w"> </span><span class="n">PLC_PRG</span><span class="w"> </span><span class="o">[</span><span class="n">CoDeSys_SP_SoftMotion_RTE_V3: SPS-Logik: Application</span><span class="o">]</span><span class="p">(</span><span class="n">Zeile</span><span class="w"> </span><span class="mi">5</span><span class="p">,</span><span class="w"> </span><span class="n">Spalte</span><span class="w"> </span><span class="mi">1</span><span class="w"> </span><span class="p">(</span><span class="n">Impl</span><span class="p">))</span><span class="err">:</span><span class="w"> </span><span class="nl">C0032</span><span class="p">:</span><span class="w">  </span><span class="n">Typ</span><span class="w"> </span><span class="s1">'Unbekannter Typ: '</span><span class="n">Drive</span><span class="s1">''</span><span class="w"> </span><span class="n">kann</span><span class="w"> </span><span class="n">nicht</span><span class="w"> </span><span class="ow">in</span><span class="w"> </span><span class="n">Typ</span><span class="w"> </span><span class="s1">'REFERENCE TO AXIS_REF_SM3'</span><span class="w"> </span><span class="n">konvertiert</span><span class="w"> </span><span class="n">werden</span><span class="w"></span> <span class="o">[</span><span class="n">FEHLER</span><span class="o">]</span><span class="w">        </span><span class="nl">SoftMotionStartupDrive2</span><span class="p">:</span><span class="w"> </span><span class="n">PLC_PRG</span><span class="w"> </span><span class="o">[</span><span class="n">CoDeSys_SP_SoftMotion_RTE_V3: SPS-Logik: Application</span><span class="o">]</span><span class="p">(</span><span class="n">Zeile</span><span class="w"> </span><span class="mi">9</span><span class="p">,</span><span class="w"> </span><span class="n">Spalte</span><span class="w"> </span><span class="mi">1</span><span class="w"> </span><span class="p">(</span><span class="n">Impl</span><span class="p">))</span><span class="err">:</span><span class="w"> </span><span class="nl">C0046</span><span class="p">:</span><span class="w">  </span><span class="n">Bezeichner</span><span class="w"> </span><span class="s1">'Drive'</span><span class="w"> </span><span class="n">nicht</span><span class="w"> </span><span class="n">definiert</span><span class="w"></span> <span class="o">[</span><span class="n">FEHLER</span><span class="o">]</span><span class="w">        </span><span class="nl">SoftMotionStartupDrive2</span><span class="p">:</span><span class="w"> </span><span class="n">PLC_PRG</span><span class="w"> </span><span class="o">[</span><span class="n">CoDeSys_SP_SoftMotion_RTE_V3: SPS-Logik: Application</span><span class="o">]</span><span class="p">(</span><span class="n">Zeile</span><span class="w"> </span><span class="mi">9</span><span class="p">,</span><span class="w"> </span><span class="n">Spalte</span><span class="w"> </span><span class="mi">1</span><span class="w"> </span><span class="p">(</span><span class="n">Impl</span><span class="p">))</span><span class="err">:</span><span class="w"> </span><span class="nl">C0032</span><span class="p">:</span><span class="w">  </span><span class="n">Typ</span><span class="w"> </span><span class="s1">'Unbekannter Typ: '</span><span class="n">Drive</span><span class="s1">''</span><span class="w"> </span><span class="n">kann</span><span class="w"> </span><span class="n">nicht</span><span class="w"> </span><span class="ow">in</span><span class="w"> </span><span class="n">Typ</span><span class="w"> </span><span class="s1">'REFERENCE TO AXIS_REF_SM3'</span><span class="w"> </span><span class="n">konvertiert</span><span class="w"> </span><span class="n">werden</span><span class="w"></span> <span class="w">                </span><span class="n">Kompilierung</span><span class="w"> </span><span class="n">abgeschlossen</span><span class="w"> </span><span class="c1">-- 9 Fehler, 0 Warnungen</span> </pre></div> <p>I have no idea how to resolve this, can anybody point me into the right direction? </p> <p>Here is the setup: I use a Raspberry Pi, EtherCAT coupler EK1914, Servomotor terminal EL7211-0010 and a synchronous servomotor AM8131. (I use it for my master thesis)</p> <p><img alt="IMG: codesys_SoftMotionStartupDrive.jpg" rel="nofollow" src="https://forum.codesys.com//download/file.php?id=2202"/></p></div>