remplastkiev Posted February 23, 2021 Report Share Posted February 23, 2021 Hello dear colleagues. I want to connect SAMBA plc and LX32A servo driver via CANopen. I can't, I ask for help. Maybe someone faced such a problem. The code is attached. GT-1v1.0.vlp Quote Link to comment Share on other sites More sharing options...
MVP 2022 kratmel Posted February 24, 2021 MVP 2022 Report Share Posted February 24, 2021 Hi, as i see you use one of my sample code for start with LX32A. You must set proper TPDO3 and RPDO3 address in CANopen configuration FB for node 2. After configure connections you must follow State transitions table (see p.165 fildbus command operation) https://www.se.com/ww/resources/sites/SCHNEIDER_ELECTRIC/content/live/FAQS/240000/FA240794/pl_PL/lxm32a_manual_v100_en.pdf State transitions sequence for velocity mode present on your pic. Any question in PM. Maybe useful topic Quote Link to comment Share on other sites More sharing options...
remplastkiev Posted February 25, 2021 Author Report Share Posted February 25, 2021 Thank my friend.I edited my code a bit. And I managed to connect, initialize, set values (ACC, DEC), but unfortunately I could not edit the velocity (velocity) and start the engine. I am physically signaling (power enable) /And in the photo it is not clear what commands are needed to start the engine, and power enable. GT-1v1.1.vlp Quote Link to comment Share on other sites More sharing options...
MVP 2022 kratmel Posted February 25, 2021 MVP 2022 Report Share Posted February 25, 2021 Hi, you must configure command and speed setpoint sorce (terminal, fieldbus). You must use proper command sequence for selected command source for follow State transitions table. For terminal and fieldbus this sequence is different and if you whant to send control command via terminal - then Enable power stage must be done via terminal. If you use only fieldbus command - Enable power stage is possible only if proper read - write PDO messages is performed. RPDO3 TPDO3 in your case. User must send command and read status. Otherwise drive do not change operating state (Schneider fieldbus state machine safety). Quote Link to comment Share on other sites More sharing options...
remplastkiev Posted February 26, 2021 Author Report Share Posted February 26, 2021 When giving a command to ENABLE POWER, ERROR E 8141 (CANopen: CAN controller is in 'bus-off' Parameter _SigLatched Bit 21 Too many error frames have been detected, CAN devices with different baud rates. Check CAN bus installation) GT-1v1.1.vlp Quote Link to comment Share on other sites More sharing options...
MVP 2022 kratmel Posted February 26, 2021 MVP 2022 Report Share Posted February 26, 2021 Maybe you use this document for CANopen setup. https://www.se.com/us/en/download/document/0198441113779-EN/ Please see on page 24 about byte swap before and after transmission. You must use command list from your pic and correctly transmit RPDO TPDO TSDO RSDO. Please see (1) note in the bottom of table on your pic. Quote Link to comment Share on other sites More sharing options...
remplastkiev Posted February 27, 2021 Author Report Share Posted February 27, 2021 Thank you. Worked/ Quote Link to comment Share on other sites More sharing options...
MVP 2022 kratmel Posted February 27, 2021 MVP 2022 Report Share Posted February 27, 2021 Solution? Is it table with command order on pic correct? Byte swap needed? Quote Link to comment Share on other sites More sharing options...
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