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</o:shapelayout></xml><![endif]--></head><body lang=EN-US link=blue vlink=purple><div class=WordSection1><p class=MsoNormal><span style='color:#1F497D'>Hi Philippe,<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>The code that Elmo provided for me is based on EtherLab’s EtherCAT<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>Master, which is the only EtherLab software component that I have been<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>using. Once the EtherCAT Master has been installed (section 9 of the<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>documentation pdf), I include the ecrt.h file in my application and then<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>compile my program dynamically (section 7.2.1). <o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>Josh<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span style='color:#1F497D'><o:p> </o:p></span></p><div><div style='border:none;border-top:solid #B5C4DF 1.0pt;padding:3.0pt 0in 0in 0in'><p class=MsoNormal><b><span style='font-size:10.0pt;font-family:"Tahoma","sans-serif"'>From:</span></b><span style='font-size:10.0pt;font-family:"Tahoma","sans-serif"'> hamelin.philippe@ireq.ca [mailto:hamelin.philippe@ireq.ca] <br><b>Sent:</b> Wednesday, November 07, 2012 3:29 PM<br><b>To:</b> Josh Rosenbaum; etherlab-users@etherlab.org<br><b>Subject:</b> RE: [etherlab-users] Pinpointing a CoE error<o:p></o:p></span></p></div></div><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif";color:blue'>Hi Josh,</span><span style='font-size:12.0pt;font-family:"Times New Roman","serif"'><o:p></o:p></span></p><p class=MsoNormal><span style='font-size:12.0pt;font-family:"Times New Roman","serif"'> <o:p></o:p></span></p><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif";color:blue'>I didn't know that the cyclic synchronous torque mode wasn't working with previous firmware versions. That's exactly the mode that I need too. Concerning the code that Elmo provided to you, is it based on EtherLab's master? If not, how does it work?</span><span style='font-size:12.0pt;font-family:"Times New Roman","serif"'><o:p></o:p></span></p><p class=MsoNormal><span style='font-size:12.0pt;font-family:"Times New Roman","serif"'> <o:p></o:p></span></p><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif";color:blue'>Thank you,</span><span style='font-size:12.0pt;font-family:"Times New Roman","serif"'><o:p></o:p></span></p><p class=MsoNormal><span style='font-size:12.0pt;font-family:"Times New Roman","serif"'> <o:p></o:p></span></p><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif";color:blue'>Philippe</span><span style='font-size:12.0pt;font-family:"Times New Roman","serif"'><o:p></o:p></span></p><p class=MsoNormal><span style='font-size:12.0pt;font-family:"Times New Roman","serif"'><o:p> </o:p></span></p><div class=MsoNormal align=center style='text-align:center'><span lang=FR style='font-size:12.0pt;font-family:"Times New Roman","serif"'><hr size=2 width="100%" align=center></span></div><p class=MsoNormal style='margin-bottom:12.0pt'><b><span lang=FR style='font-size:10.0pt;font-family:"Tahoma","sans-serif"'>De :</span></b><span lang=FR style='font-size:10.0pt;font-family:"Tahoma","sans-serif"'> Josh Rosenbaum [<a href="mailto:jrosenbaum@space.nrl.navy.mil">mailto:jrosenbaum@space.nrl.navy.mil</a>] <br><b>Envoyé :</b> 7 novembre 2012 15:23<br><b>À :</b> Hamelin, Philippe<br><b>Objet :</b> RE: [etherlab-users] Pinpointing a CoE error</span><span lang=FR style='font-size:12.0pt;font-family:"Times New Roman","serif"'><o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>Hi Philippe,<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>Without the firmware update, EtherLab seems to be working perfectly. I<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>can talk to my motors using the command-line tool, and I have tested both of<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>my motors in cyclic synchronous position mode (the downgraded firmware does<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>not support any of the other cyclic modes. Since my application requires<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>cyclic synchronous torque mode, I will eventually need to use the updated<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>firmware.)<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>I would suggest contacting Elmo and requesting a previous version of the<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>Firmware since downgrading has been the only solution that has worked so far.<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>I would also suggest requesting a test application from Elmo. They supplied<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>me with the base code that I am currently using to communicate with my motors.<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span style='color:#1F497D'>Josh<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span style='color:#1F497D'><o:p> </o:p></span></p><div><div style='border:none;border-top:solid #B5C4DF 1.0pt;padding:3.0pt 0in 0in 0in'><p class=MsoNormal><b><span style='font-size:10.0pt;font-family:"Tahoma","sans-serif"'>From:</span></b><span style='font-size:10.0pt;font-family:"Tahoma","sans-serif"'> <a href="mailto:hamelin.philippe@ireq.ca">hamelin.philippe@ireq.ca</a> [<a href="mailto:hamelin.philippe@ireq.ca">mailto:hamelin.philippe@ireq.ca</a>] <br><b>Sent:</b> Wednesday, November 07, 2012 1:07 PM<br><b>To:</b> Josh Rosenbaum; <a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br><b>Subject:</b> RE: [etherlab-users] Pinpointing a CoE error<o:p></o:p></span></p></div></div><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif";color:blue'>Hello Josh,</span><span style='font-size:12.0pt;font-family:"Times New Roman","serif"'><o:p></o:p></span></p><p class=MsoNormal><span style='font-size:12.0pt;font-family:"Times New Roman","serif"'> <o:p></o:p></span></p><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif";color:blue'>I find it funny but sad at the same time as I was about to write an email similar to yours and I was hoping that I was the only one with this problem. Unfortunately, I see that we are more than one in the same situation. I also made a firmware update recently, but I have not had the chance to test the EtherCAT interface before the update. In your case, does the EtherCAT interface worked well with Etherlab's master before the update?</span><span style='font-size:12.0pt;font-family:"Times New Roman","serif"'><o:p></o:p></span></p><p class=MsoNormal><span style='font-size:12.0pt;font-family:"Times New Roman","serif"'> <o:p></o:p></span></p><p class=MsoNormal><b><span style='font-size:10.0pt;font-family:"Lucida Sans","sans-serif";color:dimgray'>------------------------------------</span></b><b><span style='font-size:10.0pt;font-family:"Verdana","sans-serif";color:#D26900'><br></span></b><b><span style='font-size:12.0pt;font-family:"Lucida Sans","sans-serif";color:#D26900'>Philippe Hamelin</span></b><span style='font-size:8.0pt;font-family:"Verdana","sans-serif";color:#676767'>, ing., M. Ing</span><span style='font-size:12.0pt;font-family:"Times New Roman","serif";color:#676767'><br></span><span style='font-size:8.0pt;font-family:"Arial","sans-serif";color:#676767'>Chercheur / Researcher<br><br></span><span style='font-size:8.0pt;font-family:"Arial","sans-serif";color:#D26900'>T</span><span style='font-size:8.0pt;font-family:"Arial","sans-serif";color:#676767'>: 450-652-8499 x2198<br></span><span style='font-size:8.0pt;font-family:"Arial","sans-serif";color:#D26900'>F</span><span style='font-size:8.0pt;font-family:"Arial","sans-serif";color:#676767'>: 450-652-1316<br><br>Expertise robotique et civil<br>Institut de recherche d'Hydro-Québec (IREQ)<br>1740, boul. Lionel-Boulet<br>Varennes (QC) J3X 1S1, Canada</span><span style='font-size:12.0pt;font-family:"Times New Roman","serif"'><o:p></o:p></span></p><p class=MsoNormal><span style='font-size:12.0pt;font-family:"Times New Roman","serif"'><o:p> </o:p></span></p><div class=MsoNormal align=center style='text-align:center'><span lang=FR style='font-size:12.0pt;font-family:"Times New Roman","serif"'><hr size=2 width="100%" align=center></span></div><p class=MsoNormal style='margin-bottom:12.0pt'><b><span lang=FR style='font-size:10.0pt;font-family:"Tahoma","sans-serif"'>De :</span></b><span lang=FR style='font-size:10.0pt;font-family:"Tahoma","sans-serif"'> <a href="mailto:etherlab-users-bounces@etherlab.org">etherlab-users-bounces@etherlab.org</a> [<a href="mailto:etherlab-users-bounces@etherlab.org">mailto:etherlab-users-bounces@etherlab.org</a>] <b>De la part de</b> Josh Rosenbaum<br><b>Envoyé :</b> 7 novembre 2012 11:07<br><b>À :</b> <a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br><b>Objet :</b> [etherlab-users] Pinpointing a CoE error</span><span lang=FR style='font-size:12.0pt;font-family:"Times New Roman","serif"'><o:p></o:p></span></p><p class=MsoNormal>Hello,<o:p></o:p></p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal>I’m new to using EtherLab’s EtherCAT Master, and I’m currently using<o:p></o:p></p><p class=MsoNormal>Version 1.5.1 on Ubuntu 10.4 (Kernel 2.6.32). I have several identical<o:p></o:p></p><p class=MsoNormal>EtherCAT enabled Elmo Motion Control Whistle drives that use CANopen to<o:p></o:p></p><p class=MsoNormal>communicate with the master. I recently updated the Whistle drives’<o:p></o:p></p><p class=MsoNormal>firmware, and an error has popped up that I’m unsure how to handle.<o:p></o:p></p><p class=MsoNormal>Elmo claims this is not a problem on their side but is a problem with<o:p></o:p></p><p class=MsoNormal>EtherLab. I’m struggling to pin down the problem’s root and I am looking <o:p></o:p></p><p class=MsoNormal>to the EtherLab user base for guidance. <o:p></o:p></p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal>When the EtherLab Master attempts to load the object dictionary, I get a<o:p></o:p></p><p class=MsoNormal>timeout error while the master tries loading a non-existent SDO. I have<o:p></o:p></p><p class=MsoNormal>confirmed with Elmo that SDO entry 0x2206:1 does not exist. This is the<o:p></o:p></p><p class=MsoNormal>log’s output when I have two slave’s attached; slave zero has the firmware<o:p></o:p></p><p class=MsoNormal>update and slave 1 does not.<o:p></o:p></p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal>[30791.825201] EtherCAT DEBUG 0-1: Finished configuration.<o:p></o:p></p><p class=MsoNormal>[30791.825204] EtherCAT DEBUG 0-0: Ready for requests.<o:p></o:p></p><p class=MsoNormal>[30791.825207] EtherCAT DEBUG 0-1: Ready for requests.<o:p></o:p></p><p class=MsoNormal>[30794.817007] EtherCAT DEBUG 0-0: Fetching SDO dictionary.<o:p></o:p></p><p class=MsoNormal>[30794.819587] EtherCAT DEBUG 0-0: SDO list fragments left: 2<o:p></o:p></p><p class=MsoNormal>[30794.820576] EtherCAT DEBUG 0-0: SDO list fragments left: 1<o:p></o:p></p><p class=MsoNormal>[30796.204805] EtherCAT ERROR 0-0: Timeout while waiting for SDO entry 0x2206:1 description response.<o:p></o:p></p><p class=MsoNormal>[30796.220971] EtherCAT DEBUG 0-1: Fetching SDO dictionary.<o:p></o:p></p><p class=MsoNormal>[30796.223436] EtherCAT DEBUG 0-1: SDO list fragments left: 2<o:p></o:p></p><p class=MsoNormal>[30796.224438] EtherCAT DEBUG 0-1: SDO list fragments left: 1<o:p></o:p></p><p class=MsoNormal>[30796.988003] EtherCAT DEBUG 0-1: Fetched 171 SDOs and 460 entries.<o:p></o:p></p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal>I get this error every time I give power to my servo drives. Additionally,<o:p></o:p></p><p class=MsoNormal>if I try and upload an SDO using the command line tool, I get no response <o:p></o:p></p><p class=MsoNormal>from the slave. EtherLab returns the error “Failed to determine SDO entry<o:p></o:p></p><p class=MsoNormal>data type. Please specify –type” or “Data type mismatch. Expected XXX with<o:p></o:p></p><p class=MsoNormal>YY bytes, but got 0 bytes” . I have never gotten an error with the older<o:p></o:p></p><p class=MsoNormal>version of the firmware. <o:p></o:p></p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal>If this is an EtherLab bug, does anyone have suggestions to help me isolate<o:p></o:p></p><p class=MsoNormal>the bug or to circumvent the problem? If this is a bug in the firmware and<o:p></o:p></p><p class=MsoNormal>beyond my scope, any suggestions to prove that EtherLab is working correctly<o:p></o:p></p><p class=MsoNormal>and that the bug is with Elmo?<o:p></o:p></p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal>Also, I am entertaining the idea of upgrading to the EtherLab development<o:p></o:p></p><p class=MsoNormal>version, but I am awaiting the procurement of a new NIC with the necessary<o:p></o:p></p><p class=MsoNormal>supported chipset. <o:p></o:p></p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal>Thanks in advance,<o:p></o:p></p><p class=MsoNormal>Josh<o:p></o:p></p><p class=MsoNormal><o:p> </o:p></p></div></body></html>