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Published 20 hours ago • verified publisher icon bnjmnp

how to send NOP command frame

Open jackie-wayland opened this issue 4 years ago • 6 comments

I'm testing the Kollmorgen AKD2G drive, but the pysoem can't work correctly with it. I captured the frame from PCMM (Kollmorgen EtherCAT master) to AKD2G drive, and I find that the PCMＭ sends NOP command periodically to keep something.

Can the pysoem send the NOP command? How to enable this?

jackie-wayland avatar Sep 22 '20 16:09 jackie-wayland

It is not possible to send the NOP command with pysoem, same with SOEM I guess, if you use the available API functions.

I don't think that the missing NOP command is the problem here. The NOP command should pretty much be ignored by the drive. Did you try to send and receive the process data cyclically, like in the examples? (using function send_processdata and receive_processdata) I guess the drive dose not go to operational state, right? Is at least SDO communication working?

bnjmnp avatar Sep 22 '20 18:09 bnjmnp

@bnjmnp the drive goes to OP state, but the DC is not enable. send_processdata and receive_processdata are used cyclically. But the dc_sync() not work, I don't know the alternatives to this function. I always get the PLL is lost error from the drive after enable the drive.

jackie-wayland avatar Sep 23 '20 01:09 jackie-wayland

If the dc_sync() not work, the PDO frame will not include the DC information?

jackie-wayland avatar Sep 23 '20 02:09 jackie-wayland

Not sure. Did you try calling config_dc() after the call to config_map(). This may be required to get de_sync working. How do you see that dc_sync() is not working? Did you try changing the rate on witch send_processdata and receive_processdata are called?

bnjmnp avatar Sep 23 '20 05:09 bnjmnp

@bnjmnp I configured the DC after config_map(), but the ado 0x981 of the slave did not show the enable sync0 information. Could you wrap the ethercat base command, I think this is very convenient for basic debugging.

jackie-wayland avatar Sep 27 '20 02:09 jackie-wayland

Thees base functions are the lower layer of the SOEM stack. They are not meant to be called from the application. In fact wrapping them won't go along well with the current pysoem API.

  • Did you try building a C application directly with SOEM?
  • Did you try to get in contact with Kollmorgen support on the NOP thing?
  • Or did you got the drive running using a Windows PC with TwinCAT?

bnjmnp avatar Sep 27 '20 15:09 bnjmnp