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<DIV dir=ltr align=left><SPAN class=813081813-09112012><FONT color=#0000ff
size=2 face=Arial>Hi Josh,</FONT></SPAN></DIV>
<DIV dir=ltr align=left><SPAN class=813081813-09112012><FONT color=#0000ff
size=2 face=Arial></FONT></SPAN> </DIV>
<DIV dir=ltr align=left><SPAN class=813081813-09112012><FONT color=#0000ff
size=2 face=Arial>I talked with some application engineers from Elmo yesterday
and as I understand, the EEPROM memory isn't big enough to fit all the
dictionary so we have to load the XML file. Did you do that with EtherLab's
EtherCAT master?</FONT></SPAN></DIV>
<DIV dir=ltr align=left><SPAN class=813081813-09112012><FONT color=#0000ff
size=2 face=Arial></FONT></SPAN> </DIV>
<DIV dir=ltr align=left><SPAN class=813081813-09112012><FONT color=#0000ff
size=2 face=Arial>Thank you,</FONT></SPAN></DIV>
<DIV dir=ltr align=left><SPAN class=813081813-09112012><FONT color=#0000ff
size=2 face=Arial></FONT></SPAN> </DIV>
<DIV dir=ltr align=left><SPAN class=813081813-09112012><FONT color=#0000ff
size=2 face=Arial>Philippe</FONT></SPAN></DIV><BR>
<DIV dir=ltr lang=fr class=OutlookMessageHeader align=left>
<HR tabIndex=-1>
<FONT size=2 face=Tahoma><B>De :</B> Josh Rosenbaum
[mailto:jrosenbaum@space.nrl.navy.mil] <BR><B>Envoyé :</B> 7 novembre 2012
15:58<BR><B>À :</B> etherlab-users@etherlab.org; Hamelin,
Philippe<BR><B>Objet :</B> RE: [etherlab-users] Pinpointing a CoE
error<BR></FONT><BR></DIV>
<DIV></DIV>
<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-BOTTOM: medium none; BORDER-LEFT: medium none; PADDING-BOTTOM: 0in; PADDING-LEFT: 0in; PADDING-RIGHT: 0in; BORDER-TOP: #b5c4df 1pt solid; BORDER-RIGHT: medium none; PADDING-TOP: 3pt">
<P class=MsoNormal><B><SPAN
style="FONT-FAMILY: 'Tahoma','sans-serif'; FONT-SIZE: 10pt">From:</SPAN></B><SPAN
style="FONT-FAMILY: 'Tahoma','sans-serif'; FONT-SIZE: 10pt">
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-FAMILY: 'Arial','sans-serif'; COLOR: blue; FONT-SIZE: 10pt">Hi
Josh,</SPAN><SPAN
style="FONT-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt"><o:p></o:p></SPAN></P>
<P class=MsoNormal><SPAN
style="FONT-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt"> <o:p></o:p></SPAN></P>
<P class=MsoNormal><SPAN
style="FONT-FAMILY: 'Arial','sans-serif'; COLOR: blue; FONT-SIZE: 10pt">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-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt"><o:p></o:p></SPAN></P>
<P class=MsoNormal><SPAN
style="FONT-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt"> <o:p></o:p></SPAN></P>
<P class=MsoNormal><SPAN
style="FONT-FAMILY: 'Arial','sans-serif'; COLOR: blue; FONT-SIZE: 10pt">Thank
you,</SPAN><SPAN
style="FONT-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt"><o:p></o:p></SPAN></P>
<P class=MsoNormal><SPAN
style="FONT-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt"> <o:p></o:p></SPAN></P>
<P class=MsoNormal><SPAN
style="FONT-FAMILY: 'Arial','sans-serif'; COLOR: blue; FONT-SIZE: 10pt">Philippe</SPAN><SPAN
style="FONT-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt"><o:p></o:p></SPAN></P>
<P class=MsoNormal><SPAN
style="FONT-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt"><o:p> </o:p></SPAN></P>
<DIV style="TEXT-ALIGN: center" class=MsoNormal align=center><SPAN
style="FONT-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt" lang=FR>
<HR align=center SIZE=2 width="100%">
</SPAN></DIV>
<P style="MARGIN-BOTTOM: 12pt" class=MsoNormal><B><SPAN
style="FONT-FAMILY: 'Tahoma','sans-serif'; FONT-SIZE: 10pt"
lang=FR>De :</SPAN></B><SPAN
style="FONT-FAMILY: 'Tahoma','sans-serif'; FONT-SIZE: 10pt" lang=FR> 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
style="FONT-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt"
lang=FR><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-BOTTOM: medium none; BORDER-LEFT: medium none; PADDING-BOTTOM: 0in; PADDING-LEFT: 0in; PADDING-RIGHT: 0in; BORDER-TOP: #b5c4df 1pt solid; BORDER-RIGHT: medium none; PADDING-TOP: 3pt">
<P class=MsoNormal><B><SPAN
style="FONT-FAMILY: 'Tahoma','sans-serif'; FONT-SIZE: 10pt">From:</SPAN></B><SPAN
style="FONT-FAMILY: 'Tahoma','sans-serif'; FONT-SIZE: 10pt"> <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-FAMILY: 'Arial','sans-serif'; COLOR: blue; FONT-SIZE: 10pt">Hello
Josh,</SPAN><SPAN
style="FONT-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt"><o:p></o:p></SPAN></P>
<P class=MsoNormal><SPAN
style="FONT-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt"> <o:p></o:p></SPAN></P>
<P class=MsoNormal><SPAN
style="FONT-FAMILY: 'Arial','sans-serif'; COLOR: blue; FONT-SIZE: 10pt">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-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt"><o:p></o:p></SPAN></P>
<P class=MsoNormal><SPAN
style="FONT-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt"> <o:p></o:p></SPAN></P>
<P class=MsoNormal><B><SPAN
style="FONT-FAMILY: 'Lucida Sans','sans-serif'; COLOR: dimgray; FONT-SIZE: 10pt">------------------------------------</SPAN></B><B><SPAN
style="FONT-FAMILY: 'Verdana','sans-serif'; COLOR: #d26900; FONT-SIZE: 10pt"><BR></SPAN></B><B><SPAN
style="FONT-FAMILY: 'Lucida Sans','sans-serif'; COLOR: #d26900; FONT-SIZE: 12pt">Philippe
Hamelin</SPAN></B><SPAN
style="FONT-FAMILY: 'Verdana','sans-serif'; COLOR: #676767; FONT-SIZE: 8pt">,
ing., M. Ing</SPAN><SPAN
style="FONT-FAMILY: 'Times New Roman','serif'; COLOR: #676767; FONT-SIZE: 12pt"><BR></SPAN><SPAN
style="FONT-FAMILY: 'Arial','sans-serif'; COLOR: #676767; FONT-SIZE: 8pt">Chercheur
/ Researcher<BR><BR></SPAN><SPAN
style="FONT-FAMILY: 'Arial','sans-serif'; COLOR: #d26900; FONT-SIZE: 8pt">T</SPAN><SPAN
style="FONT-FAMILY: 'Arial','sans-serif'; COLOR: #676767; FONT-SIZE: 8pt">:
450-652-8499 x2198<BR></SPAN><SPAN
style="FONT-FAMILY: 'Arial','sans-serif'; COLOR: #d26900; FONT-SIZE: 8pt">F</SPAN><SPAN
style="FONT-FAMILY: 'Arial','sans-serif'; COLOR: #676767; FONT-SIZE: 8pt">:
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-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt"><o:p></o:p></SPAN></P>
<P class=MsoNormal><SPAN
style="FONT-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt"><o:p> </o:p></SPAN></P>
<DIV style="TEXT-ALIGN: center" class=MsoNormal align=center><SPAN
style="FONT-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt" lang=FR>
<HR align=center SIZE=2 width="100%">
</SPAN></DIV>
<P style="MARGIN-BOTTOM: 12pt" class=MsoNormal><B><SPAN
style="FONT-FAMILY: 'Tahoma','sans-serif'; FONT-SIZE: 10pt"
lang=FR>De :</SPAN></B><SPAN
style="FONT-FAMILY: 'Tahoma','sans-serif'; FONT-SIZE: 10pt" lang=FR> <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
style="FONT-FAMILY: 'Times New Roman','serif'; FONT-SIZE: 12pt"
lang=FR><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>