Configuration:
- PLCnext Engineer 2024.0.4 LTS
- AXC F 2152
- AXL F IF CAN 1H
- 1 Servo Drive (CANopen)
I am using the CAN_Basic version 5 library from the PLCnext store. I have an issue with the CAN_CO_Functions function block. After configuration of the SDO and PDO mapping I want to set the NMT mode to Operational. But when trying to do so the output iOP_Mode will not set to 2.
Below is the sequence I follow:
- NMT reset
- NMT pre-operational
2.1 Set SDO parameters
2.2 PDO remapping of TPDO & RPDO - NMT Operational (Doesn’t work)
The function block is going to be set to Busy and set to Done but the iOP_Mode stays at 3.
I do set the iFunction = 3 & iOP_ModeSet = 1.
Now I cannot verify if the node is in operational. Is this something within the library block or something with my node?
When I skip this verification I also get an EMCY failure when I tried to activate the SYNC function.
Emergency message:
Communication Errors (CANOpen)
COM_CONFIG_ERROR - Erroneous configuration of PDOs - CiA301: 0x8240