Customize Motion Control using cRIO, SoftMotion and AKD EtherCAT servo drives

[rune]

Fantastic it is as easy as it should be, just genias. I cant figure out why NI has not come up with this.
Many thanks for sharing great work.

Just curious, how did you figured out the start sequence?

Rune 

[SamMsfy]

Dear all,

My project needs to control an EtherCAT Servo drive (BSD series by Beijer Electronics) from a NI cRIO and LabVIEW. 

Our goal is to use servo drives in torque mode and send the torque setpoint calculated by LabVIEW Programming in the CompactRIO controller directly via EtherCAT. I know I must modify the provided XML file of the servo drive in order to get access to right parameters like Target Torque, Actual Torque, …

In this way, according to the link below, I tried to modify the XML file to get access to 1^st PDOs:

https://knowledge.ni.com/KnowledgeArticleDetails?id=kA00Z0000019LesSAE&l=pl-PL

and I replaced the XML fie located at:

C:\Program Files (x86)\National Instruments\Shared\IndComECAT\DD

I carefully followed the recommendations in the link:

https://forums.ni.com/t5/Motion-Control-and-Motor-Drives/Customize-Motion-Control-using-cRIO-SoftMot...

https://forums.ni.com/t5/LabVIEW/KollMorgen-AKD-controlled-by-cRIO-get-position/m-p/3958836/highligh...

The problem is that:

1. When I import the new XML file as device profile to the EtherCAT Master, the modifications are not recognized to the EXISTING slave (which I add via New: Target or Device: Existing target or device). I remove slave then master then even cRIO from the project, or I restart the cRIO, or even I create new project from scratch and I repeated the steps again and again. Nothing happens. Just a list of 2^nd PDOs are seen below the Slave device, as before.

2. I tried to add the slave to the project as the NEW one (via New: Target or Device: New target or device). [The name and the address of the added slave is the same as the one in the existing one]. and Then good news: I see the list of 1^st PDOs which I managed through the XML file to have access to, below the added slave. BUT when I want the scan engine to go to active mode and to use these parameters inside the LabVIEW programming environment, the error happens: the slave device deployed to the real-time target does not match the device in the EtherCAT network.

And in Online Device State, every LED state are off and there is an alarm in red: DIVICE DISCONNECTED

Any help is appreciated. Many thanks in advance.