CODESYS - the IEC 61131-3 automation software

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PostPosted: Mon Nov 14, 2016 7:53 pm 
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Joined: Mon Sep 05, 2005 9:42 am
Posts: 2057
Hi,
then maybe it is related to the timing of sending the telegrams (maybe I'm wrong because usually you get a drive error on being unync in sending the telegrams)
For SoftMotion you need an realtime kernel 'rt_preempt' patched.
Do you have applied this changes to your Linux kernel?

SoftMotion Light does not need it, the drive does calc the trajectoy in compare to SoftMotion the master does calc the trajectory for all drives.
So if your application need several drives for example interpolated movement-> use SoftMotion
if the application need only axis Independent movement point to point -> use SoftMotionLight.

BR
Edwin


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PostPosted: Mon Nov 14, 2016 10:41 pm 
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Joined: Fri Oct 16, 2015 6:42 am
Posts: 8
are you using waveshare angstrom image?


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PostPosted: Thu Nov 17, 2016 10:26 am 
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Joined: Mon Oct 31, 2016 5:49 pm
Posts: 23
Hi everyone,

I use this image:
Quote:
bone-debian-8.4-lxqt-4gb-armhf-2016-05-13-4gb.img


I patched my kernel with the RT-PREEMPT one. Please find attached the output of both commands $ uname -a and $ dmesg.

Does someone have a hint on how get the SoftMotion working ??

Thanks


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PostPosted: Fri Nov 25, 2016 8:35 am 
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Joined: Mon Sep 05, 2005 9:42 am
Posts: 2057
Hi,
guess only possible by checking together online.
BR
Edwin


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PostPosted: Thu Dec 01, 2016 2:22 pm 
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Joined: Tue Jun 09, 2015 12:34 pm
Posts: 3
Hey all,

I am working on the same stuff, making my nanotec PD4-N controller work with softmotion. I have also nanotec SMCI47-S, which works like a charm with softmotion.
I have BeagleBoneBlack with RT-PREEMPT and waveshare RS485 / CAN cape. In codesys, I have inserted the drives with softmotion axis and set them up based on conversations on this forum and some SM function blocks in PRG. Task cycle is 20ms, CAN baud rate is 125k, Sync cycle is 20000 and window length is 22000
The SM_Drive_CAN_GenericDSP402 indicates configuration error and in log there is SDO read error, even when I inserted every SDO object into SDO mapping.

Do you see any configuration mistake in my setup? Is there a way to use softmotion axis from SMCI47-S for PD4N as the manufacturer indicated that the drives are exactly same?

Best regards
Firrel

EDIT: The addition of CANOPEN_DEBUG breaks all communication on CAN. Device status says 'polling for object 0x1000', canopen is at 'module not found' and in log 'read error 16#1000sub16#00' like 50 times per second.
EDIT2: Found out that the warning in log is for SDO 6076, so Motor Rate Torque. This SDO isn't present in Nanotec. Can this be the reason?


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