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<p class="MsoNormal">Hello,<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">I’m using etherlab master with <b>Gavin </b><span class="tlid-translation"><b><span lang="EN">unofficial patch for kernel 4.9
</span></b></span><span class="tlid-translation"><span lang="EN">to command an Elmo servodrive using CiA DSP 402 protocol.<o:p></o:p></span></span></p>
<p class="MsoNormal"><span class="tlid-translation"><span lang="EN">I mapped useful PDOs to command the servodrive. These PDO include controlword and statusword objects below:<o:p></o:p></span></span></p>
<p class="MsoNormal"><span class="tlid-translation"><span lang="EN"><o:p> </o:p></span></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:FR"><img width="697" height="196" style="width:7.2583in;height:2.0416in" id="Image_x0020_4" src="cid:image002.jpg@01D5DC38.068386E0"></span><span lang="EN"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:FR"><img width="693" height="144" style="width:7.2166in;height:1.5in" id="Image_x0020_5" src="cid:image009.jpg@01D5DC38.068386E0"></span><span lang="EN"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN">The master cycle loop period is 1 ms.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN">Reading object seems to be OK, I can read successfully encoder position (Position Actual Value).<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN">But when I change controlword value, it doesn’t seem to be any effect. The state in state machine below doesn’t change (statusword doesn’t change).<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN">However when I change controlword value using sdo download in ethercat command lines tool, statusword immediately change. It seems to be a problem with writing PDOs.
<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN">When I increase master cycle loop period to 100ms, controlword updates seem to be take into account after several send commands.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:FR"><img width="425" height="452" style="width:4.425in;height:4.7083in" id="Image_x0020_2" src="cid:image010.png@01D5DC38.068386E0"></span><o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">You can see in attachement a part of my source code in C++ / Qt. Init method for PDO mapping and a while loop for send/receive PDO.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Best regards<o:p></o:p></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:image003.png@01D5DC33.823853B0" 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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