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Home Parker Community Technologies Electromechanical Group Electromechanical Support Forum Compax 3S: Possible to modify "C3_EtherCAT_full_2ms_V0209.xml" to add Additional Inputs and Outputs?
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  • State Suggested Answer
  • Date mdobrosky@winemantech.com
    mdobrosky@winemantech.com
  • Date 12 Aug 2020 9:52 PM
  • Replies 3 replies
  • Answers 1 answer
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Compax 3S: Possible to modify "C3_EtherCAT_full_2ms_V0209.xml" to add Additional Inputs and Outputs?

mdobrosky@winemantech.com
By  mdobrosky@winemantech.com 5 months ago

Hello,

      I'm using a Compax 3S E31T40 (C3S150V4F10I31M00T40), dumbed down to a T11, for positioning of a servo drive over EtherCAT.  I'm been able to communicate with the drive using the "C3_EtherCAT_full_2ms_V0209.xml" device description file.  However, I am finding that I will need to set a few additional inputs/outputs via EtherCAT than what is contained within this device description (for example, setting tuning parameters such as x2101.1 - Feedforward-Speed).  I tried adding this to the XML under the RxPDO outputs section directly below the existing entries in that section, but run into an error when I try to deploy it and can't switch to operational state. I'm new to editing EtherCAT description files, so I'm unclear if what I'm trying to do is even possible, or if how I am going about it is the correct way.  Any advice will be greatly appreciated.

Side question: what does VP in the Valid after column of the EtherCAT object table stand for?   

Thanks,

Matt D. 

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  • Daniel Cliffe
    0 Daniel Cliffe, Employee 4 months ago

    Good morning Matt.  Apologies for the late response.  Typically, editing the XML file is not the preferred way to change I/O on an EtherCAT slave device because it is, as you have seen, rather esoteric.  The XML files are usually only touched by device manufacturers and EtherCAT master configuration software (e.g. Parker Automation Manager or Beckhoff TWinCAT).

    If the configuration software you are using does not give you the option of modifying the I/O map, editing the Compax3's XML file may be a way to achieve your goal.  However, I would consider alternatives first.

    Does your EtherCAT master device support SDOs?  Any object in the Compax3 that has an EtherCAT mapping can be written or read via SDO.  This is convenient for things like servo gains that are only changed once in a while.

    The "Valid After" column in the Compax3's documentation describes what you need to do to make the drive "accept" the input.  For instance, some changes occur immediately.  If you write to the Control Word (0x6040), the new value takes effect immediately.  However, if you write to a value like a servo gain, the new value is held back until a "Validate Parameters" (VP) command is issued.  The drive does this so that multiple interdependent parameters can effectively be changed all at once.  This is especially important for servo gains where changing one gain may require another to be changed to preserve stability.

    You can issue a VP command using object 0x2016.10.

    If you want to save the values permanently, you need to disable the drive and issue a Write To Flash (WF) command, which takes about 2 seconds to execute.  You can do this with object 0x2017:

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  • mdobrosky@winemantech.com
    0 mdobrosky@winemantech.com 4 months ago in reply to Daniel Cliffe

         Thanks for the response.  Unfortunately it appears that the software package that I am using with my EtherCAT master only allows writing SDOs on initialization, and handles everything else through the PDOs.

        The main issue that I'm running into that led to me looking into writing additional parameters via EtherCAT was that even after writing a new value for parameter x2101.1 - Feedforward-Speed to flash via Servomanager, the value of the Feedforward-Speed parameter will reset to 100% if I change operating modes (specifically, I noticed this after switching from mode 8 to mode 9 and then back to mode 8) and will not return to the flashed value until I power cycle the drive.  The only way I could see around this was to write the desired value via EtherCAT to the Feedforward-Speed parameter after I change modes.      

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  • Daniel Cliffe
    0 Daniel Cliffe, Employee 4 months ago in reply to Daniel Cliffe

    It looks from the documentation like that is not going to work.  Object 0x2101.1 (internal 2010.1) is not accessible via PDO:

    Changing the XML file will not alter this as it is a firmware limitation.  Perhaps we can find a way to make this work without needing to change the Velocity Feed Forward.  Have you already auto-tuned your drive?

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