Powerlink init error with SDC axis and ACOPOS axis [solved]

[Thomas_E]

Hello all,

I´m testing a stepper motor at a X20SM1446-1 module. This is working fine. In the Test window I can move the motor as it should.
But if I´m activating the ACOPOS in the Physical View and loading the project into the PLC, then I´m getting the error like “PV not found…” and “ACP10SDC StartFunction error” (PLC logger information).

Has it something to do with the PLC address of SDC axle?

Could it be ab bug in the Automation Studio (AS V4.2.14.119)?

environment:
PowerPanel PP450
AS V4.2.14.119
AR B3.10
ACP10 5.13.2
ARNC0 5.13.2 (in an other project)
Interface-Name of SDC interface[0]: SDC_IF1
PLC address in the Acp10map: SDC_F1.ST1

My actual test config:
…if I´m disabling the ACOPOS (both ACOPOS) the stepper is working well (using test window).

Logger:

I know, that I should do all updates but I´m scary to lose the working PP450, ACOPOS 1640 and some other (older) parts.
May be there exists a workarround?
What is the highest upgrade what I could do without losing the PP450 and ACOPOS 8V1640.00-2…?

Many thanks in advanced,

best regards,

Thomas E.

[valerio.manenti]

Hi @Thomas_E ,
Welcome to B&R Community!

…if I´m disabling the ACOPOS (both ACOPOS) the stepper is working well (using test window).

this is interesting, so no issue on the stepper motor configuration, but we see in the logger “ACP10SDC StartFunction error”.

Could it be ab bug in the Automation Studio (AS V4.2.14.119)?

I don’t think AS is responsible for all issues in Automation world.

=================
Let’s start with the simple machine: no ARNC0, no gmc folders…
The configuration below is very similar to yours, the panel is different because PP400 doesn’t support the simulation (it’s quite old hw).
I need this configuration to highlight possible mistakes we normally do when we see some error on the NC-manager.
Double check to have at least these global variables:

and “Use global PV as NC object” = YES

For sure your axes name are different, be sure axes name in global variable file are the same in the mapping table.

Select the column “PLC Address”

Open NC manager configuration:

Open mapping table:
Double check the PLC Address:

In the sw configuration enable only sdc ctrl task, be sure you have Acp10sys file (don’t change your ACP10 version) under Data Objects and all init/ACOPOS tables

For the stepper:

task:

I/O mapping:

In this condition you should see no error at all in the logger:

=================
next step, in case no error: double check network.init of all axes to be sure powerlink node number are configured in correct way:

Activate the monitor and check I/O Mapping of the stepper module:

===========================
In your machine with PPC400:

Mapping table:

=================
Only now if no error I’ll re-enable all tasks.

Let’s cross our fingers…
Ciao
Valerio

[Thomas_E]

Hello Valerio,

many thanks for answering so fast and doing hard work so late (you made a complete project inclusive pictures and documentations…).

Correction:
If the stepper axle is working the error message “ACP10SDC StartFunction error” does not appear.
Only if one of the ACOPOS is activated then this message is written to the logger.

I checked all your settings:
global variables… OK
“Use global PV as NC object” = YES …OK
PLC Addresses: …OK
…
all my settings are looking exactly like yours except the powerlink network.init = ncFALSE.

after 2 min. the question of initialisation appears. After clicking on the button “Initialisation”, then the network.init jumps to ncTRUE.
If the ACOPOSes are disabled, the network.init is ncTRUE automaticaly after the startup procedure…

It is absolutely strange:
I recompiled the whole project.
After starting, the Error message “ACP10SDC StartFunction error” appears.
I disabled ACOPOS - recompile - project is working well.
Activating ACOPOS again - error message - not working at all.
Recompiling - resatrt - POWER DOWN/UP (all hardware) - no error message!
Only init problem. - It doesn´t init the stepper automaticaly…?

It´s confused! - I will try to figger out what happend exactly. After power cycle the init process is working differtly.

I will try all these settings now at my “real system”.
At my latest release I have 5 ACOPOS, 2 AI and 2 DI/O modules more inclusive CNC with 2 axles in my project…

Many thanks for your support,

best regards,

Thomas E.
(…I will hold you up to date - please hold this conversation open.)

[Thomas_E]

Hi Valerio,

I switched over to my regular project.

1.) Physical View:

After complete recompiling, power cycle, restart this error appears in the logger:

If all ACOPOSes are disabled:

…the ARNCMAN errors apears because the axles are not disabled in the software in this moment. It was only for testing.
I reactivated all ACOPOS again.

2.) test with “modul monitoring set to ON”:

With this test I could see that the stepper module will be find during the powerlink startup procedure.
If I unconnect the powerlink network cable, the PP450 is doing a restart and jumps into service mode.
…this part is working correctly, the module will be found during powerlink startup routine! - OK!

3.) My actual Configs, mapping, inits, cpu,…

Acp10config

Acp10map

globalvars

stepper bc0083 config

ncsdcctrinit

cpu tasks

cpu configs

cpu libs

…“A” at the icon? - “Automatic”?

Online IO check:

…this can not work, because of the error “ACP10SDC StartFunction error”.
All process variables have an error.

Conclusion
The problem is inside of the SDC init procedure, directly after the powerlink initialisation routine.
May be the timeout of the not connected ACOPOS (because no ACOPOS is connected now) causes the problem with the SDC init routine?
Is it an interaction between the ARNC0 and the SDC init?

My last actions
1.) deleting all SDC moduls, variables and all configs responsible with the SDC axle.
2.) recompiling, reloading, restarting PLC. - OK.
3.) Inserting the stepper modul and inserting the stepper axle with the motion wizard again.
4.) Recompiling, reloading and restarting PLC - ERROR.
…the “ACP10SDC StartFunction” is not finding the stepper module.

Can I do a powerlink network trace to find out what kind of address the ACP10SDC StartFunction is using?

The stepper module X20SM1446-1 it self is working well. If I´m connecting the 24V to one of the DI ports, the status is changing to TRUE.

…the errors here is because of the faulty SDC init routine.

Many thanks,

Thomas E.

[Thomas_E]

Hello Valerio,

here my next anlyses:

1.) nc_obj_inf of the SDC axle if it is working:

2.) nc_obj_inf of the SDC axle if it is NOT working:

…it´s look like the wrong ID and type selected!

Could it be a AS Error or a compiler error! Because these are read only values.

best regards,

Thomas E.

[Thomas_E]

I think the nc_obj_inf structure is invalid because of the missing initialisation…!? - I don´t know exactly.
Please, ignore my last post…

[valerio.manenti]

Hi @Thomas_E ,
with all respect Thomas I see you want to run a marathon but we still have problems on basic walking…

No idea why you have enabled cnc with additional complexity when you didn’t fix yet the basic configuration without that, normally during the investigation we are trying to simplify the problem reducing variables.

At the moment I don’t understand why you are facing this issue, in the past I was involved on many cases with manual SDC configuration, but after R&D developed the wizard for stepper configuration with SDC I got only few calls.

You deserve an answer soon, so I recommend to call our Support and maybe someone can visit you and fix the issue on site.

Ciao
Valerio

[Thomas_E]

Hi Valerio,

maybe you are right.

This project covers all of our 7 different systems. One system needs 2 ACOPOS 1640 and CNC. Another system needs only one ACOPOS 1640, another system needs one ACOPOS 1640 and the small one 1090… and so on. On field the Camcat- Operator selects the system and the software is doing the rest. I can´t do 7 different configurations with 12 pp450…

Many, many thanks for your support and your time.
I will contact the support tomorrow morning. If I find a solution I will post the result.

Best regards,

Thomas E.

[Thomas_E]

Hello Valerio,

the problem was definetely on my side

The best way of handling a SDC axle is:
1.) Never touch the “ncsdcctrlCyclic.st” or “ncsdcctrlInit.st” - leave it as it is, don´t put the code into other tasks or into other languages.
2.) Put “ncsdcctrl” into Cyclic#1 - leave it there and don´t stop this task at any time.

3.) The SDC axle must be connected and switched ON the whole time.
Most important: It must switched ON during the init process.

A SDC axle is a delicate thing. It was a very hard way for me to find this out.
I build a seperat project, now. I will never try to put it into my actual project…

Many thanks to all and sorry for wasting your time.

Best regards,

Thomas E.