CANopen over Ethercat (CoE) SDO read/write with 3rd party slaves

[psears]

Hello,

I am using a cRIO 9023 with 3rd party slaves (copley accelnet) in CoE. So far I have been able to communicate with the slaves successfully using PDOs defined in the XML file. However, I have been unable to reliably read or write SDOs. Interestingly, a select few SDOs do work, specifically x1018 (Identity Object) and x6510 (Amplifier data). However, virtually every other SDO I have attempted to use does not work. I have tried the read SDO example in both blocking and non blocking mode. The typical behavior is for readSDO to time out and send error -2147138468 CoE operation failed because the CoE service has timed out.

I have tried operating in Pre-OP, Safe-OP, and OP modes, each time ensuring that the scan engine is set to configuration mode. I have also looked through EtherCAT Parameters in the Online Slave Device State menu, expecting to find a comprehensive list of the object dictionary. Surprisingly, there are no entries listed in this submenu, including the SDOs that do work.

Thanks,

Patrick 

[Jesse_D]

Hi Patrick, 

It sounds like those parameters don't exist. Discovering the slaves in the project should populate the parameter list, but I don't remember if slaves are required to send a list of CoE in the spec. 

If your XML file has multiple hardware revisions you also need to discover the slave instead of adding it as a new device. That would be my first step if you haven't already.

Otherwise post your xml file and I will see if anything else stands out. 

[psears]

Thanks for your help! I did discover the slaves as new devices, and I did a deploy all through the cRIO. For what it's worth, I do see all of the parameters that should exist in the object dictionary (see xml, attached)

[Jesse_D]

The xml looks ok, 

what does your labview code look like? The device doesn't support complete access. There are two SDO methods in labview, one complete access and one not. 

[psears]

I have used both of the Read SDO examples (blocking and non-blocking) as well as a modified version of the non-blocking. In either case, I am not using complete access. I've attached my modified version of the examples.