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Errors when starting the motion app

JOJO95
Member

Errors when starting the motion app

Hello,

I'm trying to use Panasonic drive MADLN05BE with Motion app.

Core version is RM22.03. Motion app and EtherCAT Master app are 1.14.0.

EtherCAT status was normally switched to OP, and I can control with via controlword in PLC app.

 

However, when I change the Motion app state to operation mode then, I receive error.

AxisProfile state machine error : Switch state machine to "Running" failed

I changed the AxisProfile to "COE_CALC_CONTROL" following the guide of this Link, but same error occur again.

JOJO95_2-1657179030671.png

JOJO95_3-1657179042376.png

 

The more I can't understand is that Axis configuration error occurs sometimes after change the controlword in the PLC app (I don't know exact condition). After changing the axis type I can access to the motion app.

JOJO95_1-1657178866554.png

 

But another error occur when I power on in the commissioning.

JOJO95_0-1657178795209.png

 

Parameters that I can handle in the drive side are very limited. So, I'm keep trying to change in controller side.

Does any one know the solution any of these?

3 REPLIES 3
Linhan
Member

Re: Errors when starting the motion app

Hello,

Thanks for your feedback.

I think the first statemachine problem is caused by the device type, which on control side is different from drive side.

In the picture, drive side device type is rotational, control side is linear, ther are different.

Linhan_0-1657617452943.png

To solve this problem, i think you can switch the axis type (control side)to rotational, then try switching to run.

You can also try switching the device type on the drive side and keep the same type with control.

 

 

WenKuei
Member

Re: Errors when starting the motion app

Hello

I had a same problem with the third party drive: Delta ASDA-B3 Series, also can not powered the axis.

After that, I use datalayer to control the axis, it can powered and jog without problem.

WenKuei_0-1657672564831.png

WenKuei_1-1657672917663.png

The motion was in Operation mode already btw.

WenKuei_0-1657675723939.png

 

 

JOJO95
Member

Re: Errors when starting the motion app

Hi guys,

The setup process was a bit complicated, but it worked. MOTION app and KinInterface template works perfectly.

First, you can see detailed digonostics if you change the value of : Datalayer/trace/rexroth-automationcore/units false -> true

JOJO95_1-1657685731523.png

 

In my case, there is error : currunet drive operation mode : Unknown, which is not supported

JOJO95_0-1657685319753.png

For Panasonic drives, 0x6060 Mode of Operation should be set to 8 (CSP). Then I can enable the operation mode. Changing value of startup parameter or default value in ESI file was not ok. I had to set the value at PLC engineering tool via PDO. This is little bit starange, but I don't know if it's a drive problem or MOTION app problem.

Power problem was also cleared when I use KinInterface template in PLC program.

 

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