Maxon EPOS4 using EtherCAT interface

[snopyy]

Hello community.

I'm currently implementing Maxon EPOS4 motor driver with cRIO EtherCAT interface. As there is no SoftMotion Drive Interface (SDI) support for EPOS4, I had to manually configure the CANopen over EtherCAT (CoE) interface.

I had successfully imported ESI file and added Cyclic Synchronous Position (CSP) module of EPOS4 as can be seen in the project below.

I configured all the PDO mapping referring the firmware specification using SDO communication in the configuration mode of cRIO and pre operational state of EPOS4, and ready to switch to active mode/safe operational state.

The table below is the PDO mapping conducted with SDO communication.

ID-sub(hex)	Data(hex)	Description
F030-00	01	# of configured modules
F030-01	68 0000 04	Module 1
1C12-00	0	SYNC manager 2 PDO assignment Number of assigned RxPDOs
1C13-00	0	SYNC manager 3 PDO assignment Number of assigned TxPDOs
1A00-00	0	Number of mapped objects in TxPDO 1
1A00-01	6041 00 10	TxPDO 1st map: Statusword
1A00-02	6064 00 20	TxPDO 2nd map: Position actual value
1A00-03	606C 00 20	TxPDO 3rd map: Velocity actual value
1A00-04	6077 00 10	TxPDO 4th map: Torque actual value
1A00-05	6061 00 08	TxPDO 5th map: Modes of operation display
1A00-06	60FD 00 20	TxPDO 6th map: Digital inputs
1A00-00	06	Number of mapped objects in TxPDO 1
1A01-00	0	Number of mapped objects in TxPDO 2
1A02-00	0	Number of mapped objects in TxPDO 3
1A03-00	0	Number of mapped objects in TxPDO 4
1600-00	0	Number of mapped objects in RxPDO 1
1600-01	6040 00 10	RxPDO 1st map: Controlword
1600-02	607A 00 20	RxPDO 2nd map: Target position
1600-03	60B0 00 20	RxPDO 3rd map: Position offset
1600-04	60B2 00 10	RxPDO 4th map: Torque offset
1600-05	6060 00 08	RxPDO 5th map: Modes of operation
1600-06	60FE 01 20	RxPDO 6th map: Digital outputs
1600-00	06	Number of mapped objects in RxPDO 1
1601-00	0	Number of mapped objects in RxPDO 2
1602-00	0	Number of mapped objects in RxPDO 3
1603-00	0	Number of mapped objects in RxPDO 4
1C12-01	1600	1st assigned RxPDO
1C12-00	01	SYNC manager 2 PDO assignment Number of assigned RxPDOs
1C13-01	1A00	1st assigned TxPDO
1C13-00	01	SYNC manager 3 PDO assignment Number of assigned TxPDOs
6060-00	08	CSP mode

The problem I experiencing is that EPOS 4 refuses to enter to the safe operational state.

Below is the error message from Labview:

"Error -2147138467 occurred at an unidentified location

Possible reason(s):

NI-Industrial Communications for EtherCAT: (Hex 0x8005445D) An SDO request sent by the master has been aborted by the slave device due to incorrect initial commands or incorrect PDO selection. Check the configuration of the slave device on the device's property page and ensure that the configuration is correct."

At the same time, the configured objects of EPOS4 written with SDO automatically changes like this:

ID-sub(hex)	Data(hex)	Description
1A00-00	0	Number of mapped objects in TxPDO 1
1C12-00	0	Number of assigned RxPDOs
1C13-00	0	Number of assigned TxPDOs

I have checked PDO mapping several times but cannot figure out the problem of current setting.

I cannot figure out whether EPOS4 EtherCAT is not compatible with cRIO or is there something I missed. I had tried about a month for this issue but did not find a way to solve this.

I attached ESI file of EPOS4 file that I used in this project.

It would be really appreciated if someone could help solving this issue.

[GreatCho]

Hey, I'm trying the same thing as you are. Actually, in my case, I'm using sbRIO-9651 as a master. Before going deep, I wonder what you meant by "I configured all the PDO mapping." and the process of you configuring the mapping.

[haga77]

Hey, did you get it to work? In my case, I am trying to use Maxon EPOS4 24/1.5 EtherCAT, with PXI real-time (Phar lap) as ethercat master. 

[CheokCheokBakSa]

No, they don't provide the proper xml file.