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Problems with CK3E and Kollmorgen AKD
changing the PDO names prevents the PDO entry from being repeated.
It is a bit uncomfortable to do - especially if I have to do it for multiple drives - but works.

After a call with Kollmorgen's technicians it looks like the real problem of not being able to move the motor is that the "default" operation mode for the drive is not CSP.
To get it to work you have to manually set the operation mode writing in the $6060 SDO or modifying the startup sequence as shown in the picture (by default I had "7" here).
With Etherlab I never had to do this, so I needed someone to tell me.

So far so good, but I still have one problem: with Etherlab I could disable and re-enable Ethercat almost at will, but now if I disable Ethercat I can't re-enable it unless I make a reboot. Is this an expected behaviour?

ECAT[0].MasterState stays at 2 but most of the times the Ethercat does not re-enable.

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RE: Problems with CK3E and Kollmorgen AKD - tecnico - 03-19-2019, 07:30 AM

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