CODESYS - the IEC 61131-3 automation software

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 Post subject: Ethercat Delta A2 Error
PostPosted: Thu Jan 03, 2019 2:54 pm 
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Joined: Fri Jul 06, 2018 12:35 pm
Posts: 9
Hello,

Delta A2 driver displays error while enabling MC-Power block.
Driver Error: AL.3E2 (The CANopen SYNC signal is received too early.)

Would anyone know what's wrong?
Thankful.

Edit ....

I changed the DC-Synchronous to FreeRun and it worked (Image 03)
Thank you.


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PostPosted: Fri Jan 04, 2019 9:05 am 
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Joined: Mon Sep 05, 2005 9:42 am
Posts: 3093
Hi,
two things are mandatory for using Softmotion drives…
1. CALL your motion pou's in the EtherCAT Task
2. rt_preemt patched Linux Kernel is needed for doring SoftMotion with EtherCAT and distributed clocks

BR
Edwin


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PostPosted: Sun Jan 06, 2019 12:21 pm 
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Joined: Fri Jul 06, 2018 12:35 pm
Posts: 9
Hello,

Thanks for the answer.

Some problems:

1) Connected to POU to the Ethercat task - OK.

2) When trying to change the Kernel damaged my SD card. I had to format it. I tried to install the license again without success.
Can I reinstall the license in the new installation?

3) Do you have any RT patch to share?
PS.:I installed the image of the article below, but the error continues.
https://guysoft.wordpress.com/2017/10/09/realtimepi/
http://unofficialpi.org/Distros/RealtimePi/

4)In FREE-RUN ETHERCAT I get communication but the engine does not move, am I forgetting something? Or does it not work on FRE-RUN? (Image 5)

I use Raspberry pi 3.
Thank you.


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PostPosted: Sun Jan 06, 2019 7:28 pm 
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Joined: Mon Sep 05, 2005 9:42 am
Posts: 3093
Hi,

your licensing question:
if you use CODESYS >= 3.5SP13, you could get the license update file from here:
c:\ProgramData\CODESYS\Licenses\ ( this is the backup which is copied there on activation of the License)
With this file you could reactivate exactly this PI as often you want.
https://faq.codesys.com/pages/viewpage. ... Id=1310825
Beside this you could get the Update file from the License server via the LicenseManager: ( see screenshot)


4) yes I think free run will not work



BR
Edwin


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PostPosted: Sun Jan 06, 2019 10:58 pm 
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Joined: Fri Jul 06, 2018 12:35 pm
Posts: 9
Hi

When I installed the license I was using SP12.
Before presenting the defect in the SDcard had upgraded to SP14.
I am using SP14 to restore the license as commented, but this error is occurring according to printscreen 6.

And regarding the system with RT do you have some available for download or indicates a location?

Thank you.


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PostPosted: Mon Jan 07, 2019 7:36 am 
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Joined: Mon Sep 05, 2005 9:42 am
Posts: 3093
Hi,
use restore License on additional functions, this will pull the licensefile from our license server.

Quote:
And regarding the system with RT do you have some available for download or indicates a location?

No at the Moment not, maybe other users in this Forum could provide a link?

BR
Edwin


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PostPosted: Mon Jan 07, 2019 9:12 am 
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Joined: Wed Mar 28, 2018 3:12 pm
Posts: 20
Hi, I need more information on the topic "rt_preemt patched Linux Kernel is needed for SoftMotion with EtherCAT and distributed clocks" to make the Delta A2 drivers work with Rasperry in EtherCat.
Do I have to do a special installation of the Raspberry operating system?

Another question for MASCARA: I tried to move a Delta A2 engine with Raspberry, but I could not. Could you share the working project for a Delta engine?

Thank you all for your help


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PostPosted: Mon Jan 07, 2019 11:42 am 
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Joined: Fri Jul 06, 2018 12:35 pm
Posts: 9
Hi

Edwin Schwellinger wrote:
use restore License on additional functions, this will pull the licensefile from our license server.


I'm doing just that. But without success as previous post.

.......
Way:
Tools >> License Manager >>
Device > Next >> Softcontainer > Next >> Select Device (Device Address:0301.A081) > OK >>
Additional Functions >> Restore Licenses ... >> (Paste Ticket from email) >> Restore
I get the message: Error on restore license to device.

.......

elconfa wrote:
Another question for MASCARA: I tried to move a Delta A2 engine with Raspberry, but I could not. Could you share the working project for a Delta engine?


The program I'm working on is attached.
I can not move the engine with this program.
I get the position, speed and torque information without problem.
When enabled (Enable, bRegulatorOn and bDriverStart) the Servo Driver displays the error AL.3E2 in DC-Synchronous.
With EtherCat in FreeRun this does not occur but the engine does not move.

I tested with the Raspbian RT images below, to no avail:

https://docs.emlid.com/navio/common/ard ... to-sd-card
https://guysoft.wordpress.com/2017/10/09/realtimepi/

No more ideas ...
If anyone can find a solution, please help us.
Thankful.


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PostPosted: Wed Jan 16, 2019 2:20 pm 
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Joined: Fri Jul 06, 2018 12:35 pm
Posts: 9
Hello,

For those who are having problems with the Delta drive maybe this might help.

The values set in the startup parameters are not being written to Drive, conform below:

Image

Image

The values should be:
16#60C2:16#01 = 4
16#60C2:16#02 = -3

Alternatively to work around this problem was to create a program for recording the SDO after the DSP402 is in Operational(100). As below.

Image

Below is an example of the program for recording the SDO on the Delta drive.

Image

The file is also in the attachment.

Thanks for the support Edwin


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