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AM3359: Two axes with EtherCAT Slave

小白很小白
Intellectual 320 points
Part Number: AM3359


Under the guidance of  PRU-ICSS Industrial Software for Sitara Processors, I have generated the ethercat_slave_full project and the project ran well on AM3359ICE board.I want to run two axes on one slave station with CIA402.At the beginning, the project with one axis is ok.When I write data to the congtrol word on TwinCAT,the online data will change accordingly.But when I insert the csv moudle to the second slot,all the online datas of  the two axes are always 0 no matter what data I write  and there is no tips.So what should I do.

Thanks and forgive me for my terrible English!

  • 0
    TI__Guru**** 393215 points

    Hi,

    Your query has been assigned to a TI engineer. Please note that feedback may be delayed due to holidays in the USA.

  • 0 in reply to Biser Gatchev-XID
    TI__Mastermind 43296 points

    Hello,

    Can you please elaborate how you add the second axis and insert the csv moudle to the second slot?

    Regards,

    Garrett

  • 0 in reply to Garrett Ding
    Intellectual 320 points

    I didn't change the code and xml file.I have read the code carefully,and the project can run two axes.I just operate on TwinCAT.

    First I inserted the csv module into slot2.In free run mode I can not change the online data of the two axes anymore and there is no error message.

    Then I try to run two axes in DC mode,before that I have run single axis in DC mode succesfully. I inserted the csv module to slot2 again,and add two NC axes on TwinCAT,and configed the NC axes follow the guid of http://www.ti.com/lit/ug/tidu800b/tidu800b.pdf,and linked the module variables and axes variables,and changed operation mode to DC,and clicked the Activate Configuration button.I got that error message"

     14 2019/11/29 18:16:01 114 ms | 'Box 1 (TIESC_CiA-01)' (1001):'PREOP to SAFEOP' failed! Error: 'check device state for SAFEOP'
    . AL Status '0x0012' read and '0x0004' expected. AL Status Code '0x001e - Invalid SM IN cfg' "
    I check the code and the xml file and compared the it with routines of infineon,and I can not find what is wrong.I an a newbie in this field and I need you help.
    Thanks and forgive me for my terrible English!
  • 0 in reply to Garrett Ding
    Intellectual 320 points

    Sorry for delaying you so much time.My problem is solved.I am not familiar with TwinCAT and I just did not  tick the Download SlotCfg.

    Tank you so much!