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<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR">Hello<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR">I am a beginner in EtherCAT technology.
<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR">I try to control a servodrive using PDOs. I succeded in settings parameters like homing mode using SDOs.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR">Now, I’d like to send command and read status using PDOs. I tried to make PDO mapping like in « examples/user/main.c » example.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR"><img width="698" height="120" style="width:7.2666in;height:1.25in" id="Image_x0020_2" src="cid:image006.jpg@01D5D5D1.4F59E430"><o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR"><img width="693" height="149" style="width:7.2166in;height:1.55in" id="Image_x0020_3" src="cid:image007.jpg@01D5D5D1.4F59E430"><o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR">You can see my source code below :<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">static unsigned int off_ctl_word;<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">static unsigned int off_status;<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">static unsigned int off_position_value;<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">const static ec_pdo_entry_reg_t domain1_regs[] = {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {0, 0, 0x0000009A, 0x00030924, 0x6040, 0, &off_ctl_word},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {0, 0, 0x0000009A, 0x00030924, 0x6041, 0, &off_status},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {0, 0, 0x0000009A, 0x00030924, 0x6064, 0, &off_position_value},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {}<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">};<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">ec_pdo_entry_info_t slave_0_pdo_entries[] = {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {0x6040, 0x00, 16},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {0x6041, 0x00, 16},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {0x6064, 0x00, 32},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">};<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">ec_pdo_info_t slave_0_pdos[] = {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {0x160a, 1, slave_0_pdo_entries + 0},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {0x1a0a, 1, slave_0_pdo_entries + 1},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {0x1a0e, 1, slave_0_pdo_entries + 2},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">};<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">ec_sync_info_t slave_0_syncs[] = {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {3, EC_DIR_INPUT, 2, slave_0_pdos + 1, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {0xff}<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">};<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">static ec_master_t *master = nullptr;<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">static ec_domain_t *domain1 = nullptr;<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">static ec_slave_config_t *sc_elmo = nullptr;<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">static ec_slave_info_t slaveInfo;<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">int main(int argc, char *argv[])<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">{<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> QCoreApplication a(argc, argv);<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> master = ecrt_request_master(0);<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> if ( !master ) {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> exit( EXIT_FAILURE );<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> }<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">
<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> domain1 = ecrt_master_create_domain(master);<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> if ( !domain1 ) {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> exit( EXIT_FAILURE );<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> }
<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> if ( !(sc_elmo = ecrt_master_slave_config(master, 0, 0, 0x0000009A, 0x00030924)) ) {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> fprintf(stderr, "Failed to get slave configuration for AKD.\n");<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> exit( EXIT_FAILURE );<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> }<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;mso-fareast-language:FR"> uint32_t abort_code = 0;<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> uint8_t lHomingMethod[] = {33};<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> uint8_t lModeOfOperation[] = {6};<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> if(ecrt_master_sdo_download(master, 0, 0x6098, 0, (const uint8_t*)lHomingMethod, sizeof(lHomingMethod), &abort_code)<0)<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> exit( EXIT_FAILURE );<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> }<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> if(ecrt_master_sdo_download(master, 0, 0x6060, 0, (const uint8_t*)lModeOfOperation, sizeof(lModeOfOperation), &abort_code)<0)<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> exit( EXIT_FAILURE );<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> }
<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> if (ecrt_slave_config_pdos(sc_elmo, EC_END, slave_0_syncs))<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> exit( EXIT_FAILURE );<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> }<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs))<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> exit( EXIT_FAILURE );<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> }<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">
<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> if ( ecrt_master_activate( master ) ) {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> exit( EXIT_FAILURE );<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> }<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> ecrt_release_master(master);<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR"> return a.exec();<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span style="font-size:10.0pt;mso-fareast-language:FR">}</span><span style="color:#1F497D;mso-fareast-language:FR"><o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR">I have no error, but PDO mapping doesn’t seem to be done when I compare it with command lines tool below :<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR"><img width="551" height="298" style="width:5.7416in;height:3.1083in" id="Image_x0020_4" src="cid:image010.jpg@01D5D5D1.4F59E430"><o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR">Did I miss anything ?
<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR">Moreover I don’t know how to read and write in PDOs. In user example, I only see how to write in PDO using EC_WRITE_XX, but I don’t know how to read ? Is it with EC_READ_XX ?<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR">We don’t know if data are available, is there a callback function to be notified is data has been updated ?<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR">What is the period of EtherCAT cycle ? Is it the period of the while loop in the cyclic task ?<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR">Best regards<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D;mso-fareast-language:FR">Vincent BUSSIERES<o:p></o:p></span></b></p>
<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black;mso-fareast-language:FR">Responsable Technique Logiciel<o:p></o:p></span></b></p>
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<p class="MsoNormal"><span style="color:black;mso-fareast-language:FR"><img width="96" height="72" style="width:1.0in;height:.75in" id="Image_x0020_1" src="cid:image001.png@01D5D5CB.B3C4BC70" alt="1572337113342"></span><span style="color:black;mso-fareast-language:FR"><o:p></o:p></span></p>
<p class="MsoNormal"><i><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:navy;mso-fareast-language:FR">24 Avenue de Pasleck</span></i><span style="color:black;mso-fareast-language:FR"><o:p></o:p></span></p>
<p class="MsoNormal"><i><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:navy;mso-fareast-language:FR">16400 LA COURONNE</span></i><span style="font-family:"Verdana",sans-serif;color:black;mso-fareast-language:FR"><br>
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</span><span style="font-size:16.0pt;font-family:Webdings;color:green;mso-fareast-language:FR">P</span><span style="color:black;mso-fareast-language:FR"> </span><span style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:#99CC00;mso-fareast-language:FR">Afin
de contribuer au respect de l'environnement, merci de n'imprimer ce courriel qu'en cas de nécessité.</span><span style="color:black;mso-fareast-language:FR"><o:p></o:p></span></p>
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