<div dir="ltr"><div><div>Hi 肖佩，<br><br></div>吕序效 <<a href="mailto:xxlu@rivo-robot.com" target="_blank">xxlu@rivo-robot.com</a>> told me once that he had encountered the same problem as you did with P-0-150. I don't know whether or how he managed to solve this problem. Ask him and share the solution here afterwards :D<br><br></div>Regards,<br><br>袁俊<br></div><div class="gmail_extra"><br><div class="gmail_quote">On 24 October 2014 03:32, 肖佩 <span dir="ltr"><<a href="mailto:xiaopei_sk@hust.edu.cn" target="_blank">xiaopei_sk@hust.edu.cn</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><font size="3" face="Courier">Hi All,</font><div><font size="3" face="Courier"><br></font></div><div><font size="3" face="Courier"> Now I try to use (Igh ethercat master 1.5.2 + xenomai 3.2)to drive AX5206. <span style="line-height:10.25pt">I exported the startup config from TwinCAT, and stored them into the master </span><span style="line-height:1.2" lang="EN-US">using ecrt_slave_config_idn, </span><span style="line-height:1.2" lang="EN-US">then I activated the master, config IDNs downloaded to driver. Other IDNs were successfully configured, but P-0-0150 failed. </span></font></div><p><font size="3" face="Courier">I use Twincat to get the IDN P-0-150 configuration data:</font></p><p><font size="3" face="Courier">E0 00 E0 00 02 00 00 00 48 65 69 64 23 45 51 4E 31 33 32 35 2D 35 31 32 53 2D 35 56 2D 45 32 2E 31 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 52 03 03 00 00 00 00 00 00 00 01 00 03 00 00 00 00 00 00 02 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 03 00 00 00 00 00 0D 00 0C 00 0D 00 0C 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 C8 00 C8 00 73 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00</font></p><p><font size="3" face="Courier">and this is 228 bytes.</font></p><p><font size="3" face="Courier">and then I use ecrt_slave_config_idn()to config IDN P-0-150 as follow:</font></p><p><font size="3" face="Courier"> memset(data, 0, 228);<br> data[0]=0xE0; data[2]=0xE0; data[4]=0x02; data[8]=0x48; data[9]=0x65;<br> data[10]=0x69; data[11]=0x64; data[12]=0x23; data[13]=0x45; data[14]=0x51;<br> data[15]=0x4E; data[16]=0x31; data[17]=0x33; data[1
8]=0x32; data[19]=0x35;<br> data[20]=0x2D; data[21]=0x35; data[22]=0x31; data[23]=0x32; data[24]=0x53;<br> data[25]=0x2D; data[26]=0x35; data[27]=0x56; data[28]=0x2D; data[29]=0x45;<br> data[30]=0x32; data[31]=0x2E; data[32]=0x31; data[48]=0x02; data[50]=0x52;<br> data[51]=0x03; data[52]=0x03; data[60]=0x01; data[62]=0x03;<br> data[69]=0x02; data[108]=0x02; data[110]=0x03; data[116]=0x0D; data[118]=0x0C;<br> data[120]=0x0D; data[122]=0x0C; data[200]=0xC8; data[202]=0xC8; data[204]=0x73;</font></p><p><font size="3" face="Courier"><br> ecrt_slave_config_idn(sc, 0, 0x8096, EC_AL_STATE_PREOP, data, 228); //idnp150</font></p><p><font size="3" face="Courier"> </font></p><div><span style="line-height:1.2" lang="EN-US"><font size="3" face="Courier"><span style="line-height:1.2"> I use wireshark to capture the datagrams during the configuration, and find P-0-150 just send the first fragment(118 bytes). And the master didn't send the second fragment because the SM1's state register is 0x00. </span> I don't know what's the problems is? Could you offer some help?</font></span></div><div><span style="line-height:1.2" lang="EN-US"><font size="3" face="Courier"><br></font></span></div><div><span style="line-height:1.2" lang="EN-US"><font size="3" face="Courier">Best regards</font></span></div><div><span style="line-height:1.2" lang="EN-US"><font size="3" face="Courier">Xiao Pei</font></span></div><br>_______________________________________________<br>
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