bc_fred Posted June 21, 2011 Report Share Posted June 21, 2011 We are working with a Vision 350 PLC and a KollMorgen Linear Actuator Controller. We have to modify the PDO messaging contents to expand the list of values that are sent and received. We have a complete listing of the change messages that we have to send to the Actuator. We are using SDO Send STR and SDO Receive STR. Without a sniffer, it's hard to determine the exact contents of the outbound string message, but we know exactly what we have to put into it. Apparently, there is an ACK message that we get back each time, and we have to listen for it. I have read fantasia's document about talking to the robot and I see that there is an SDO Receive STR after the Send STR. She then compares the resultant received value to zero. If zero, all OK, otherwise, error. I've also read Tim Moulder's excellent documentation, which is greatly appreciated. Questions: - The ACK message comes back as a hex string. Can I view, somehow, the exact hex string returned? - Do I have to wait for an ACK containing zero in the data bytes before sending the next SDO Download STR? - Does anybody know the difference between "Domain Segment Transfer" and "Block Segment Transfer" in Parameter D of 'SDO Download STR'? Anyone at Unitronics?? Thanks for any and all kind words. Regards, Fred Mason Crosswind Power Systems Inc. Quote Link to comment Share on other sites More sharing options...
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