BBB & R88D

Runtime
2018-02-27
2018-02-28
  • Trissicle42

    Trissicle42 - 2018-02-27

    Hi,
    I am trying to use the BBB with OMRON drive but I meet some problems with the SoftMotion.
    Indeed, I added a SoftMotion CiA420 Axis to each of my drives and when I try to log in 2 SDO read errors occur.

    The AbortCode 6020000 means that the “Object does not exist”, therefore I have to create this object or to skip this reading. Is it possible? alternatively is there other way to fix it?

    Thank you for your attention.
    BR
    T.

    IMG: Abortcode.png

    IMG: Device tree.png

    IMG: Devies.png

     
  • eschwellinger

    eschwellinger - 2018-02-27

    Hi,
    there is a special SoftMotion driver for this drive...
    I would recommend to use this driver instead of the 'DS402 generic driver'

    BR
    Edwin

    IMG: Omron_driver.jpg

     
  • Trissicle42

    Trissicle42 - 2018-02-28

    I also tried your configuration with the special SoftMotion driver but the problem remains.

    IMG: problem special sm.png

     
  • eschwellinger

    eschwellinger - 2018-02-28

    Hi,
    no everything is green so looks good

    you need to check:
    1. realtime rt_premt patch quality (check in the task monitor the jitter)
    2. Update the Ethercat_Master to Ethercat_M... ( there is a Setting FramesAtTaskstart which is needed for SoftMotion)

    Think this should help.

    BR
    Edwin

     

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