CODESYS - the IEC 61131-3 automation software

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PostPosted: Wed Dec 12, 2018 3:06 pm 
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Joined: Fri Sep 07, 2018 8:16 am
Posts: 14
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
Code:
 
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

Code:
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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PostPosted: Thu Dec 13, 2018 7:05 am 
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Site Admin

Joined: Mon Sep 05, 2005 9:42 am
Posts: 3325
Hi,
please give us more information.
Which CODESYS version are you using?
Which plc in which version are you using?

BR
Edwin


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PostPosted: Thu Dec 13, 2018 11:48 am 
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Joined: Fri Sep 07, 2018 8:16 am
Posts: 14
Edwin Schwellinger wrote:
Hi,
please give us more information.
Which CODESYS version are you using?
Which plc in which version are you using?

BR
Edwin


Hi Edwin! Of course!

I'm using Codesys V3.5 SP8 Patch3 (machine's PC).
Compiler version is 3.5.8.30.

We're using an an OMAP-L137 board with real time preemption kernel @330 MHz.

Best regards,
Gianmarco


Last edited by gdalbo on Fri Dec 14, 2018 9:19 am, edited 1 time in total.

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PostPosted: Fri Dec 14, 2018 9:01 am 
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Joined: Fri Sep 07, 2018 8:16 am
Posts: 14
Hi,

Usually, when I use RS2, I set an EtherCAT cycle time of 8ms.
I noticed that if I set the double of this value (16ms) all the ecat chain (with RS3) works.

Is there some in particular due to RS3 which slows the system?

Furthermore , some times ago I also noticed that if EtherCAT task runs without any code(PRG, FB..) the max cycle time is more or less almost of 1ms... is this normal in an empty ecat task?
I ask this because maybe there is something wrong in our codesys settings and we don't know what.

Thank you,
Gianmarco


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PostPosted: Sat Dec 15, 2018 10:24 am 
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Site Admin

Joined: Mon Sep 05, 2005 9:42 am
Posts: 3325
Hi,
Quote:
Is there some in particular due to RS3 which slows the system?

no I don't think so.

Sounds that even the performance of the system is to low?
Which CPU is build in on your plc?
BR
Edwin


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PostPosted: Mon Dec 17, 2018 10:08 am 
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Joined: Fri Sep 07, 2018 8:16 am
Posts: 14
CPU is ARM926 @ 444MHz 16kB D-cache 16kB I-Cache

Thanks,
Gianmarco


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