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<div><font color="#1F497D">Hi Philippe,</font></div>
<div><font color="#1F497D"> </font></div>
<div><font color="#1F497D">From my understanding, the XML file contains information about the physical</font></div>
<div><font color="#1F497D">slave, and not information about the slave’s dictionary. There is a patch,</font></div>
<div><font color="#1F497D">which was originally posted by Jesper last year, which reads the XML file</font></div>
<div><font color="#1F497D">directly from the Kernel rather than the slave. I have successfully</font></div>
<div><font color="#1F497D">communicated with my slaves both with and without the patch/XML file. So,</font></div>
<div><font color="#1F497D">the XML file is nice to have, but definitely not necessary. If you’re</font></div>
<div><font color="#1F497D">talking about a different XML file, that I’m not sure what you are referring</font></div>
<div><font color="#1F497D">too.</font></div>
<div><font color="#1F497D"> </font></div>
<div><font color="#1F497D">Josh</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D"> </font></div>
<div><font face="Calibri, sans-serif" color="#1F497D"> </font></div>
<div><font face="Calibri, sans-serif" color="#1F497D"> </font></div>
<div><font face="Tahoma, sans-serif" size="2"><b>From:</b> hamelin.philippe@ireq.ca [<a href="mailto:hamelin.philippe@ireq.ca">mailto:hamelin.philippe@ireq.ca</a>]
<br>
<b>Sent:</b> Friday, November 09, 2012 8:23 AM<br>
<b>To:</b> Josh Rosenbaum; etherlab-users@etherlab.org<br>
<b>Subject:</b> RE: [etherlab-users] Pinpointing a CoE error</font></div>
<div><font face="Calibri, sans-serif"> </font></div>
<div><font face="Arial, sans-serif" size="2" color="#0000FF">Hi Josh,</font></div>
<div><font face="Times New Roman, serif" size="3"> </font></div>
<div><font face="Arial, sans-serif" size="2" color="#0000FF">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></div>
<div><font face="Times New Roman, serif" size="3"> </font></div>
<div><font face="Arial, sans-serif" size="2" color="#0000FF">Thank you,</font></div>
<div><font face="Times New Roman, serif" size="3"> </font></div>
<div><font face="Arial, sans-serif" size="2" color="#0000FF">Philippe</font></div>
<div><font face="Calibri, sans-serif"> </font></div>
<div><font face="Times New Roman, serif" size="3"><img src="rtfimage://" width="83" height="41"></font></div>
<div style="margin-bottom: 12pt; "><font face="Tahoma, sans-serif" size="2"><b>De :</b> Josh Rosenbaum [<a href="mailto:jrosenbaum@space.nrl.navy.mil"><font color="#0000FF"><u>mailto:jrosenbaum@space.nrl.navy.mil</u></font></a>]
<br>
<b>Envoyé :</b> 7 novembre 2012 15:58<br>
<b>À :</b> <a href="mailto:etherlab-users@etherlab.org"><font color="#0000FF"><u>etherlab-users@etherlab.org</u></font></a>; Hamelin, Philippe<br>
<b>Objet :</b> RE: [etherlab-users] Pinpointing a CoE error</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">Hi Philippe,</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D"> </font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">The code that Elmo provided for me is based on EtherLab’s EtherCAT</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">Master, which is the only EtherLab software component that I have been</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">using. Once the EtherCAT Master has been installed (section 9 of the</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">documentation pdf), I include the ecrt.h file in my application and then</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">compile my program dynamically (section 7.2.1). </font></div>
<div><font face="Calibri, sans-serif" color="#1F497D"> </font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">Josh</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D"> </font></div>
<div><font face="Calibri, sans-serif" color="#1F497D"> </font></div>
<div><font face="Tahoma, sans-serif" size="2"><b>From:</b> <a href="mailto:hamelin.philippe@ireq.ca"><font color="#0000FF"><u>hamelin.philippe@ireq.ca</u></font></a> [<a href="mailto:hamelin.philippe@ireq.ca"><font color="#0000FF"><u>mailto:hamelin.philippe@ireq.ca</u></font></a>]
<br>
<b>Sent:</b> Wednesday, November 07, 2012 3:29 PM<br>
<b>To:</b> Josh Rosenbaum; <a href="mailto:etherlab-users@etherlab.org"><font color="#0000FF"><u>etherlab-users@etherlab.org</u></font></a><br>
<b>Subject:</b> RE: [etherlab-users] Pinpointing a CoE error</font></div>
<div><font face="Calibri, sans-serif"> </font></div>
<div><font face="Arial, sans-serif" size="2" color="#0000FF">Hi Josh,</font></div>
<div><font face="Times New Roman, serif" size="3"> </font></div>
<div><font face="Arial, sans-serif" size="2" color="#0000FF">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?</font></div>
<div><font face="Times New Roman, serif" size="3"> </font></div>
<div><font face="Arial, sans-serif" size="2" color="#0000FF">Thank you,</font></div>
<div><font face="Times New Roman, serif" size="3"> </font></div>
<div><font face="Arial, sans-serif" size="2" color="#0000FF">Philippe</font></div>
<div><font face="Calibri, sans-serif"> </font></div>
<div style="text-align: center; "><font face="Times New Roman, serif" size="3"><img src="rtfimage://" width="83" height="41"></font></div>
<div style="margin-bottom: 12pt; "><font face="Tahoma, sans-serif" size="2"><b>De :</b> Josh Rosenbaum [<a href="mailto:jrosenbaum@space.nrl.navy.mil"><font color="#0000FF"><u>mailto:jrosenbaum@space.nrl.navy.mil</u></font></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</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">Hi Philippe,</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D"> </font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">Without the firmware update, EtherLab seems to be working perfectly. I</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">can talk to my motors using the command-line tool, and I have tested both of</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">my motors in cyclic synchronous position mode (the downgraded firmware does</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">not support any of the other cyclic modes. Since my application requires</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">cyclic synchronous torque mode, I will eventually need to use the updated</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">firmware.)</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D"> </font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">I would suggest contacting Elmo and requesting a previous version of the</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">Firmware since downgrading has been the only solution that has worked so far.</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">I would also suggest requesting a test application from Elmo. They supplied</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">me with the base code that I am currently using to communicate with my motors.</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D"> </font></div>
<div><font face="Calibri, sans-serif" color="#1F497D">Josh</font></div>
<div><font face="Calibri, sans-serif" color="#1F497D"> </font></div>
<div><font face="Calibri, sans-serif" color="#1F497D"> </font></div>
<div><font face="Tahoma, sans-serif" size="2"><b>From:</b> <a href="mailto:hamelin.philippe@ireq.ca"><font color="#0000FF"><u>hamelin.philippe@ireq.ca</u></font></a> [<a href="mailto:hamelin.philippe@ireq.ca"><font color="#0000FF"><u>mailto:hamelin.philippe@ireq.ca</u></font></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"><font color="#0000FF"><u>etherlab-users@etherlab.org</u></font></a><br>
<b>Subject:</b> RE: [etherlab-users] Pinpointing a CoE error</font></div>
<div><font face="Calibri, sans-serif"> </font></div>
<div><font face="Arial, sans-serif" size="2" color="#0000FF">Hello Josh,</font></div>
<div><font face="Times New Roman, serif" size="3"> </font></div>
<div><font face="Arial, sans-serif" size="2" color="#0000FF">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?</font></div>
<div><font face="Times New Roman, serif" size="3"> </font></div>
<div><font face="Lucida Sans, sans-serif" size="2" color="#696969"><b>------------------------------------<br>
</b><font size="3" color="#D26900"><b>Philippe Hamelin</b></font><font face="Verdana, sans-serif" size="1" color="#676767">, ing., M. Ing<br>
</font><font face="Arial, sans-serif" size="1" color="#676767">Chercheur / Researcher<br>
<br>
</font><font face="Arial, sans-serif" size="1" color="#D26900">T</font><font face="Arial, sans-serif" size="1" color="#676767">: 450-652-8499 x2198<br>
</font><font face="Arial, sans-serif" size="1" color="#D26900">F</font><font face="Arial, sans-serif" size="1" 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</font></font></div>
<div><font face="Calibri, sans-serif"> </font></div>
<div style="text-align: center; "><font face="Times New Roman, serif" size="3"><img src="rtfimage://" width="83" height="41"></font></div>
<div style="margin-bottom: 12pt; "><font face="Tahoma, sans-serif" size="2"><b>De :</b> <a href="mailto:etherlab-users-bounces@etherlab.org"><font color="#0000FF"><u>etherlab-users-bounces@etherlab.org</u></font></a> [<a href="mailto:etherlab-users-bounces@etherlab.org"><font color="#0000FF"><u>mailto:etherlab-users-bounces@etherlab.org</u></font></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"><font color="#0000FF"><u>etherlab-users@etherlab.org</u></font></a><br>
<b>Objet :</b> [etherlab-users] Pinpointing a CoE error</font></div>
<div><font face="Calibri, sans-serif">Hello,</font></div>
<div><font face="Calibri, sans-serif"> </font></div>
<div><font face="Calibri, sans-serif">I’m new to using EtherLab’s EtherCAT Master, and I’m currently using</font></div>
<div><font face="Calibri, sans-serif">Version 1.5.1 on Ubuntu 10.4 (Kernel 2.6.32). I have several identical</font></div>
<div><font face="Calibri, sans-serif">EtherCAT enabled Elmo Motion Control Whistle drives that use CANopen to</font></div>
<div><font face="Calibri, sans-serif">communicate with the master. I recently updated the Whistle drives’</font></div>
<div><font face="Calibri, sans-serif">firmware, and an error has popped up that I’m unsure how to handle.</font></div>
<div><font face="Calibri, sans-serif">Elmo claims this is not a problem on their side but is a problem with</font></div>
<div><font face="Calibri, sans-serif">EtherLab. I’m struggling to pin down the problem’s root and I am looking </font></div>
<div><font face="Calibri, sans-serif">to the EtherLab user base for guidance. </font></div>
<div><font face="Calibri, sans-serif"> </font></div>
<div><font face="Calibri, sans-serif">When the EtherLab Master attempts to load the object dictionary, I get a</font></div>
<div><font face="Calibri, sans-serif">timeout error while the master tries loading a non-existent SDO. I have</font></div>
<div><font face="Calibri, sans-serif">confirmed with Elmo that SDO entry 0x2206:1 does not exist. This is the</font></div>
<div><font face="Calibri, sans-serif">log’s output when I have two slave’s attached; slave zero has the firmware</font></div>
<div><font face="Calibri, sans-serif">update and slave 1 does not.</font></div>
<div><font face="Calibri, sans-serif"> </font></div>
<div><font face="Calibri, sans-serif">[30791.825201] EtherCAT DEBUG 0-1: Finished configuration.</font></div>
<div><font face="Calibri, sans-serif">[30791.825204] EtherCAT DEBUG 0-0: Ready for requests.</font></div>
<div><font face="Calibri, sans-serif">[30791.825207] EtherCAT DEBUG 0-1: Ready for requests.</font></div>
<div><font face="Calibri, sans-serif">[30794.817007] EtherCAT DEBUG 0-0: Fetching SDO dictionary.</font></div>
<div><font face="Calibri, sans-serif">[30794.819587] EtherCAT DEBUG 0-0: SDO list fragments left: 2</font></div>
<div><font face="Calibri, sans-serif">[30794.820576] EtherCAT DEBUG 0-0: SDO list fragments left: 1</font></div>
<div><font face="Calibri, sans-serif">[30796.204805] EtherCAT ERROR 0-0: Timeout while waiting for SDO entry 0x2206:1 description response.</font></div>
<div><font face="Calibri, sans-serif">[30796.220971] EtherCAT DEBUG 0-1: Fetching SDO dictionary.</font></div>
<div><font face="Calibri, sans-serif">[30796.223436] EtherCAT DEBUG 0-1: SDO list fragments left: 2</font></div>
<div><font face="Calibri, sans-serif">[30796.224438] EtherCAT DEBUG 0-1: SDO list fragments left: 1</font></div>
<div><font face="Calibri, sans-serif">[30796.988003] EtherCAT DEBUG 0-1: Fetched 171 SDOs and 460 entries.</font></div>
<div><font face="Calibri, sans-serif"> </font></div>
<div><font face="Calibri, sans-serif">I get this error every time I give power to my servo drives. Additionally,</font></div>
<div><font face="Calibri, sans-serif">if I try and upload an SDO using the command line tool, I get no response </font></div>
<div><font face="Calibri, sans-serif">from the slave. EtherLab returns the error “Failed to determine SDO entry</font></div>
<div><font face="Calibri, sans-serif">data type. Please specify –type” or “Data type mismatch. Expected XXX with</font></div>
<div><font face="Calibri, sans-serif">YY bytes, but got 0 bytes” . I have never gotten an error with the older</font></div>
<div><font face="Calibri, sans-serif">version of the firmware. </font></div>
<div><font face="Calibri, sans-serif"> </font></div>
<div><font face="Calibri, sans-serif"> </font></div>
<div><font face="Calibri, sans-serif">If this is an EtherLab bug, does anyone have suggestions to help me isolate</font></div>
<div><font face="Calibri, sans-serif">the bug or to circumvent the problem? If this is a bug in the firmware and</font></div>
<div><font face="Calibri, sans-serif">beyond my scope, any suggestions to prove that EtherLab is working correctly</font></div>
<div><font face="Calibri, sans-serif">and that the bug is with Elmo?</font></div>
<div><font face="Calibri, sans-serif"> </font></div>
<div><font face="Calibri, sans-serif"> </font></div>
<div><font face="Calibri, sans-serif">Also, I am entertaining the idea of upgrading to the EtherLab development</font></div>
<div><font face="Calibri, sans-serif">version, but I am awaiting the procurement of a new NIC with the necessary</font></div>
<div><font face="Calibri, sans-serif">supported chipset. </font></div>
<div><font face="Calibri, sans-serif"> </font></div>
<div><font face="Calibri, sans-serif"> </font></div>
<div><font face="Calibri, sans-serif">Thanks in advance,</font></div>
<div><font face="Calibri, sans-serif">Josh</font></div>
<div><font face="Calibri, sans-serif"> </font></div>
<div><font face="Calibri, sans-serif"> </font></div>
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