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.

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.

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

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?

Best reply by JOJO95

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

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

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.

View original

Diagnostic_Log_2022-07-07_16-29-32.csv

78.99KB

IO_project.zip

332.85KB

panasonic_minas-a6be_v1_9.xml

668.67KB

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