[etherlab-dev] etherlab-dev Digest, Vol 50, Issue 4
Jinyoung Choi
kbkbc88 at gmail.com
Mon Dec 17 10:04:49 CET 2012
Hi Qing :)
I finally solved the problem that I didn't implement the DC sync.
When I made a DC sync signal from master, my RxPDOs are properly working.
Anyway thank you for your reply.
sincerely
2012/12/6 <etherlab-dev-request at etherlab.org>
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>
> Today's Topics:
>
> 1. Re: A problem related to the pdo communication (Royal Qing)
>
>
> ----------------------------------------------------------------------
>
> Message: 1
> Date: Thu, 6 Dec 2012 20:39:37 +0800 (CST)
> From: "Royal Qing" <royalqing at 163.com>
> Subject: Re: [etherlab-dev] A problem related to the pdo communication
> To: etherlab-dev at etherlab.org
> Message-ID: <2dba321.2233c.13b703a74ad.Coremail.royalqing at 163.com>
> Content-Type: text/plain; charset="gbk"
>
> Hi Jinyoung,
>
> Sorry, I have not used epos3 motor drive up to now.
> But I wonder what operation mode you used? Csp or Csv?
> And Whether the same operation mode can work very well under TwinCAT
> control?
>
> BR!
>
>
>
>
> At 2012-12-06 18:23:38,etherlab-dev-request at etherlab.org wrote:
> >Send etherlab-dev mailing list submissions to
> > etherlab-dev at etherlab.org
> >
> >To subscribe or unsubscribe via the World Wide Web, visit
> > http://lists.etherlab.org/mailman/listinfo/etherlab-dev
> >or, via email, send a message with subject or body 'help' to
> > etherlab-dev-request at etherlab.org
> >
> >You can reach the person managing the list at
> > etherlab-dev-owner at etherlab.org
> >
> >When replying, please edit your Subject line so it is more specific
> >than "Re: Contents of etherlab-dev digest..."
> >
> >
> >Today's Topics:
> >
> > 1. Re: etherlab-dev Digest, Vol 50, Issue 1 (Jinyoung Choi)
> >
> >
> >----------------------------------------------------------------------
> >
> >Message: 1
> >Date: Thu, 6 Dec 2012 19:23:33 +0900
> >From: Jinyoung Choi <kbkbc88 at gmail.com>
> >Subject: Re: [etherlab-dev] etherlab-dev Digest, Vol 50, Issue 1
> >To: etherlab-dev at etherlab.org
> >Message-ID:
> > <CADsBPRSWYwV7G46GmYAMSZKRonW=gDac6RUbFAE=
> XZeqP9opWA at mail.gmail.com>
> >Content-Type: text/plain; charset="iso-8859-1"
> >
> >Thank you for your answer Qing.
> >
> >still, i can't solve the problem : (
> >
> >I captured some packets by using the wireshark program and i checked the
> >pdos are sent properly.
> >
> >but the real values of object dictionary are no changed!
> >
> >so I think it is not a master module's problem....
> >
> >I use epos3 motor drive for the test...
> >
> >is there any solution?
> >
> >2012/12/5 <etherlab-dev-request at etherlab.org>
> >
> >> Send etherlab-dev mailing list submissions to
> >> etherlab-dev at etherlab.org
> >>
> >> To subscribe or unsubscribe via the World Wide Web, visit
> >> http://lists.etherlab.org/mailman/listinfo/etherlab-dev
> >> or, via email, send a message with subject or body 'help' to
> >> etherlab-dev-request at etherlab.org
> >>
> >> You can reach the person managing the list at
> >> etherlab-dev-owner at etherlab.org
> >>
> >> When replying, please edit your Subject line so it is more specific
> >> than "Re: Contents of etherlab-dev digest..."
> >>
> >>
> >> Today's Topics:
> >>
> >> 1. Re: A problem related to the pdo communication (Jinyoung
> >> Choi) (Royal Qing)
> >>
> >>
> >> ----------------------------------------------------------------------
> >>
> >> Message: 1
> >> Date: Wed, 5 Dec 2012 11:38:09 +0800 (CST)
> >> From: "Royal Qing" <royalqing at 163.com>
> >> Subject: Re: [etherlab-dev] A problem related to the pdo communication
> >> (Jinyoung Choi)
> >> To: etherlab-dev at etherlab.org
> >> Message-ID: <20c0bac1.500e.13b6924602d.Coremail.royalqing at 163.com>
> >> Content-Type: text/plain; charset="gbk"
> >>
> >> Hi Jinyoung,
> >>
> >> It looks like nothing wrong with your codes.
> >> First of all, please check the device description file(XML) and make
> sure
> >> it just contains only 1 RxPDO with 7 entries and 1 TxPDO with 6 entries.
> >> Then please try to use external memory to manage the internal process
> data
> >> for your domain. I doubt that your pointer domain0_output is clear after
> >> ecrt_master_send(master).
> >>
> >> if ((size = ecrt_domain_size(domain0))) {
> >> if (!(domain0_output = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
> >> printk(KERN_ERR PFX "Failed to allocate %u bytes of process
> >> data"
> >> " memory!\n", size);
> >> return -1;
> >> }
> >> ecrt_domain_external_memory(domain0, domain0_output);
> >> }
> >>
> >> BR!
> >>
> >> Royal Qing
> >>
> >>
> >>
> >> At 2012-11-30 18:20:10,etherlab-dev-request at etherlab.org wrote:
> >> >Send etherlab-dev mailing list submissions to
> >> > etherlab-dev at etherlab.org
> >> >
> >> >To subscribe or unsubscribe via the World Wide Web, visit
> >> > http://lists.etherlab.org/mailman/listinfo/etherlab-dev
> >> >or, via email, send a message with subject or body 'help' to
> >> > etherlab-dev-request at etherlab.org
> >> >
> >> >You can reach the person managing the list at
> >> > etherlab-dev-owner at etherlab.org
> >> >
> >> >When replying, please edit your Subject line so it is more specific
> >> >than "Re: Contents of etherlab-dev digest..."
> >> >
> >> >
> >> >Today's Topics:
> >> >
> >> > 1. A problem related to the pdo communication (Jinyoung Choi)
> >> >
> >> >
> >> >----------------------------------------------------------------------
> >> >
> >> >Message: 1
> >> >Date: Fri, 30 Nov 2012 19:20:07 +0900
> >> >From: Jinyoung Choi <kbkbc88 at gmail.com>
> >> >Subject: [etherlab-dev] A problem related to the pdo communication
> >> >To: etherlab-dev at etherlab.org
> >> >Message-ID:
> >> > <
> >> CADsBPRSrAhDoJad1n2fyKhc8ADCW412o8b1eX-mwzYp+b68rtA at mail.gmail.com>
> >> >Content-Type: text/plain; charset="iso-8859-1"
> >> >
> >> >Hi all, my name CJ from south korea.
> >> >
> >> >I modified an example in /example/user/main.c
> >> >
> >> >My goal is to communicate with slave motor drive(epos3) by using
> ethercat
> >> >through SDO and PDO messages.
> >> >
> >> >My slave drive can get into OP state like these messages
> >> >
> >> >Activating master...
> >> >
> >> >Starting timer...
> >> >
> >> >Started.
> >> >
> >> >1 slave(s).
> >> >
> >> >AL states: 0x02.
> >> >
> >> >Link is up.
> >> >
> >> >EPOS3 slave 0 State 0x02.
> >> >
> >> >EPOS3 slave 0: online.
> >> >
> >> >Domain: WC 3.
> >> >
> >> >Domain: State 2.
> >> >
> >> >AL states: 0x08.
> >> >
> >> >EPOS3 slave 0 State 0x08.
> >> >
> >> >EPOS3 slave 0: operational.
> >> >
> >> >
> >> >and kernel messages are like this,
> >> >
> >> >...
> >> >
> >> >[29145.133927] EtherCAT DEBUG 0: Stopping master thread.
> >> >
> >> >[29145.133930] EtherCAT DEBUG 0: Master IDLE thread exiting...
> >> >
> >> >[29145.133952] EtherCAT 0: Master thread exited.
> >> >
> >> >[29145.133954] EtherCAT DEBUG 0: FSM datagram is ffff8800527bd648.
> >> >
> >> >[29145.133955] EtherCAT 0: Starting EtherCAT-OP thread.
> >> >
> >> >[29145.133973] EtherCAT DEBUG 0: mmap()
> >> >
> >> >[29145.133975] EtherCAT DEBUG 0: Vma fault, virtual_address =
> >> >00007fb7e9b61000, offset = 0, page = ffffea00011ffe30
> >> >
> >> >[29145.134008] EtherCAT DEBUG 0: Operation thread running with fsm
> >> interval
> >> >= 10000 us, max data size=112500
> >> >
> >> >[29145.134010] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> >> >
> >> >[29145.143508] EtherCAT DEBUG 0: Configuration changed (aborting state
> >> >check).
> >> >
> >> >[29145.143511] EtherCAT DEBUG 0: Writing system time offsets...
> >> >
> >> >[29145.143512] EtherCAT WARNING 0: No app_time received up to now, but
> >> >master already active.
> >> >
> >> >[29145.143513] EtherCAT DEBUG 0: Requesting OP...
> >> >
> >> >[29145.181179] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
> >> >
> >> >[29145.181182] EtherCAT DEBUG 0-0: Configuring...
> >> >
> >> >[29145.215005] EtherCAT DEBUG 0-0: Now in INIT.
> >> >
> >> >[29145.215007] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
> >> >
> >> >[29145.235006] EtherCAT DEBUG 0-0: Clearing sync manager
> configurations...
> >> >
> >> >[29145.255046] EtherCAT DEBUG 0-0: Clearing DC assignment...
> >> >
> >> >[29145.274967] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
> >> >
> >> >[29145.274995] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 1024, Ctrl
> 0x26,
> >> >En 1
> >> >
> >> >[29145.274997] EtherCAT DEBUG 0-0: SM1: Addr 0x1400, Size 1024, Ctrl
> 0x22,
> >> >En 1
> >> >
> >> >[29145.334911] EtherCAT DEBUG 0-0: Now in PREOP.
> >> >
> >> >[29145.334918] EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:
> >> >
> >> >[29145.334919] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1600.
> PDOs
> >> to
> >> >assign: 0x1600
> >> >
> >> >[29145.334922] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to
> >> zero.
> >> >
> >> >[29145.334923] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
> >> >
> >> >[29145.334924] EtherCAT DEBUG: 00
> >> >
> >> >[29145.334926] EtherCAT DEBUG 0-0: Expedited download request:
> >> >
> >> >[29145.334927] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
> >> >
> >> >[29145.394874] EtherCAT DEBUG 0-0: Download response:
> >> >
> >> >[29145.394876] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
> >> >
> >> >[29145.394881] EtherCAT DEBUG 0-0: Assigning PDO 0x1600 at position 1.
> >> >
> >> >[29145.394882] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.
> >> >
> >> >[29145.394883] EtherCAT DEBUG: 00 16
> >> >
> >> >[29145.394885] EtherCAT DEBUG 0-0: Expedited download request:
> >> >
> >> >[29145.394885] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00
> >> >
> >> >[29145.454815] EtherCAT DEBUG 0-0: Download response:
> >> >
> >> >[29145.454816] EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00
> >> >
> >> >[29145.454820] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to
> 1.
> >> >
> >> >[29145.454822] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
> >> >
> >> >[29145.454822] EtherCAT DEBUG: 01
> >> >
> >> >[29145.454824] EtherCAT DEBUG 0-0: Expedited download request:
> >> >
> >> >[29145.454824] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00
> >> >
> >> >[29145.514775] EtherCAT DEBUG 0-0: Download response:
> >> >
> >> >[29145.514777] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00
> >> >
> >> >[29145.514783] EtherCAT DEBUG 0-0: Successfully configured PDO
> assignment
> >> >of SM2.
> >> >
> >> >[29145.514787] EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:
> >> >
> >> >[29145.514787] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A00.
> PDOs
> >> to
> >> >assign: 0x1A00
> >> >
> >> >[29145.514790] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to
> >> zero.
> >> >
> >> >[29145.514792] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
> >> >
> >> >[29145.514792] EtherCAT DEBUG: 00
> >> >
> >> >[29145.514794] EtherCAT DEBUG 0-0: Expedited download request:
> >> >
> >> >[29145.514794] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
> >> >
> >> >[29145.574693] EtherCAT DEBUG 0-0: Download response:
> >> >
> >> >[29145.574695] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
> >> >
> >> >[29145.574700] EtherCAT DEBUG 0-0: Assigning PDO 0x1A00 at position 1.
> >> >
> >> >[29145.574702] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.
> >> >
> >> >[29145.574703] EtherCAT DEBUG: 00 1A
> >> >
> >> >[29145.574704] EtherCAT DEBUG 0-0: Expedited download request:
> >> >
> >> >[29145.574705] EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00
> >> >
> >> >[29145.634651] EtherCAT DEBUG 0-0: Download response:
> >> >
> >> >[29145.634653] EtherCAT DEBUG: 00 30 60 13 1C 01 00 1A 00 00
> >> >
> >> >[29145.634656] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to
> 1.
> >> >
> >> >[29145.634658] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
> >> >
> >> >[29145.634659] EtherCAT DEBUG: 01
> >> >
> >> >[29145.634660] EtherCAT DEBUG 0-0: Expedited download request:
> >> >
> >> >[29145.634661] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00
> >> >
> >> >[29145.694597] EtherCAT DEBUG 0-0: Download response:
> >> >
> >> >[29145.694599] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00
> >> >
> >> >[29145.694603] EtherCAT DEBUG 0-0: Successfully configured PDO
> assignment
> >> >of SM3.
> >> >
> >> >[29145.694607] EtherCAT DEBUG 0-0: SM2: Addr 0x1800, Size 19, Ctrl
> 0x64,
> >> En
> >> >1
> >> >
> >> >[29145.694609] EtherCAT DEBUG 0-0: SM3: Addr 0x1C00, Size 15, Ctrl
> 0x20,
> >> En
> >> >1
> >> >
> >> >[29145.714583] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size 19,
> >> >PhysAddr 0x1800, SM2, Dir out
> >> >
> >> >[29145.714585] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000013, Size 15,
> >> >PhysAddr 0x1C00, SM3, Dir in
> >> >
> >> >[29145.764458] EtherCAT 0: Domain 0: Working counter changed to 3/3.
> >> >
> >> >[29145.774506] EtherCAT DEBUG 0-0: Now in SAFEOP.
> >> >
> >> >[29145.814535] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
> >> >
> >> >[29145.840543] EtherCAT 0: Slave states: OP.
> >> >
> >> >
> >>
> >>
> >------------------------------------------------------------------------------------------------
> >> >
> >> >
> >> >I guess that the pdos may be sent by master module.
> >> >
> >> >but the actual value of objects in slave's object dictionary are not
> >> >changed.
> >> >
> >> >what is the problem?
> >> >
> >> >please do me a favor.
> >> >
> >> >and this is my example code.
> >> >
> >> >
> >>
> >>
> >/*****************************************************************************
> >> > *
> >> > * $Id: main.c,v 60a116ed3897 2009/07/27 10:44:16 fp $
> >> > *
> >> > * Copyright (C) 2007-2009 Florian Pose, Ingenieurgemeinschaft IgH
> >> > *
> >> > * This file is part of the IgH EtherCAT Master.
> >> > *
> >> > * The IgH EtherCAT Master is free software; you can redistribute it
> >> and/or
> >> > * modify it under the terms of the GNU General Public License
> version 2,
> >> >as
> >> > * published by the Free Software Foundation.
> >> > *
> >> > * The IgH EtherCAT Master is distributed in the hope that it will be
> >> >useful,
> >> > * but WITHOUT ANY WARRANTY; without even the implied warranty of
> >> > * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
> >> >General
> >> > * Public License for more details.
> >> > *
> >> > * You should have received a copy of the GNU General Public License
> >> along
> >> > * with the IgH EtherCAT Master; if not, write to the Free Software
> >> > * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA
> 02110-1301
> >> >USA
> >> > *
> >> > * ---
> >> > *
> >> > * The license mentioned above concerns the source code only. Using
> the
> >> > * EtherCAT technology and brand is only permitted in compliance with
> the
> >> > * industrial property and similar rights of Beckhoff Automation GmbH.
> >> > *
> >> >
> >>
> ****************************************************************************/
> >> >
> >> >#include <errno.h>
> >> >#include <signal.h>
> >> >#include <stdio.h>
> >> >#include <string.h>
> >> >#include <sys/resource.h>
> >> >#include <sys/time.h>
> >> >#include <sys/types.h>
> >> >#include <unistd.h>
> >> >
> >>
> >>
> >/****************************************************************************/
> >> >
> >> >#include "ecrt.h"
> >> >
> >>
> >>
> >/****************************************************************************/
> >> >
> >> >// Application parameters
> >> >#define FREQUENCY 100
> >> >#define PRIORITY 1
> >> >
> >> >// Optional features
> >> >#define CONFIGURE_PDOS 1
> >> >#define SDO_ACCESS 0
> >> >
> >>
> >>
> >/****************************************************************************/
> >> >
> >> >// EtherCAT
> >> >static ec_master_t *master = NULL;
> >> >static ec_master_state_t master_state = {};
> >> >
> >> >static ec_domain_t *domain0 = NULL;
> >> >static ec_domain_state_t domain_state = {};
> >> >
> >> >static ec_slave_config_t *sc_epos3 = NULL;
> >> >static ec_slave_config_state_t sc_epos3_state = {};
> >> >
> >> >// Timer
> >> >static unsigned int sig_alarms = 0;
> >> >static unsigned int user_alarms = 0;
> >> >
> >>
> >>
> >/****************************************************************************/
> >> >
> >> >// process data
> >> >static uint8_t *domain0_output = NULL;
> >> >
> >> >#define SLAVE_DRIVE_0 0, 0
> >> >#define MAXON_EPOS3 0x000000fb, 0x64400000
> >> >
> >> >// offsets for PDO entries
> >> >
> >> >static unsigned int off_epos3_cntlwd;
> >> >//static unsigned int off_epos3_tvel;
> >> >static unsigned int off_epos3_tpos;
> >> >static unsigned int off_epos3_off_pos;
> >> >static unsigned int off_epos3_off_vel;
> >> >static unsigned int off_epos3_off_toq;
> >> >static unsigned int off_epos3_moo;
> >> >static unsigned int off_epos3_dof;
> >> >static unsigned int off_epos3_status;
> >> >static unsigned int off_epos3_pos_val;
> >> >static unsigned int off_epos3_vel_val;
> >> >static unsigned int off_epos3_toq_val;
> >> >static unsigned int off_epos3_mood;
> >> >static unsigned int off_epos3_dif;
> >> >
> >> >const static ec_pdo_entry_reg_t domain0_regs[] = {
> >> > {SLAVE_DRIVE_0, MAXON_EPOS3, 0x6040, 0, &off_epos3_cntlwd},
> >> > {SLAVE_DRIVE_0, MAXON_EPOS3, 0x607a, 0, &off_epos3_tpos},
> >> > {SLAVE_DRIVE_0, MAXON_EPOS3, 0x60b0, 0, &off_epos3_off_pos},
> >> > {SLAVE_DRIVE_0, MAXON_EPOS3, 0x60b1, 0, &off_epos3_off_vel},
> >> > {SLAVE_DRIVE_0, MAXON_EPOS3, 0x60b2, 0, &off_epos3_off_toq},
> >> > {SLAVE_DRIVE_0, MAXON_EPOS3, 0x6060, 0, &off_epos3_moo},
> >> > {SLAVE_DRIVE_0, MAXON_EPOS3, 0x2078, 1, &off_epos3_dof},
> >> > {SLAVE_DRIVE_0, MAXON_EPOS3, 0x6041, 0, &off_epos3_status},
> >> > {SLAVE_DRIVE_0, MAXON_EPOS3, 0x6064, 0, &off_epos3_pos_val},
> >> > {SLAVE_DRIVE_0, MAXON_EPOS3, 0x606c, 0, &off_epos3_vel_val},
> >> > {SLAVE_DRIVE_0, MAXON_EPOS3, 0x6077, 0, &off_epos3_toq_val},
> >> > {SLAVE_DRIVE_0, MAXON_EPOS3, 0x6061, 0, &off_epos3_mood},
> >> > {SLAVE_DRIVE_0, MAXON_EPOS3, 0x2071, 1, &off_epos3_dif},
> >> > {}
> >> >};
> >> >
> >> >static unsigned int counter = 0;
> >> >static unsigned int blink = 0;
> >> >
> >>
> >>
> >/*****************************************************************************/
> >> >
> >> >#if CONFIGURE_PDOS
> >> >
> >> >static ec_pdo_entry_info_t epos3_pdo_rx_entries[] = {
> >> > {0x6040, 0, 16}, // controlword
> >> > {0x607a, 0, 32}, // target position
> >> > {0x60b0, 0, 32}, // position offset
> >> > {0x60b1, 0, 32}, // velocity offset
> >> > {0x60b2, 0, 16}, // torque offset
> >> > {0x6060, 0, 8}, // modes of opeartion
> >> > {0x2078, 1, 16} // digital output functionality
> >> >
> >> >};
> >> >
> >> >static ec_pdo_entry_info_t epos3_pdo_tx_entries[] = {
> >> > {0x6041, 0, 16}, // status word
> >> > {0x6064, 0, 32}, // position actual value
> >> > {0x606c, 0, 32}, // velocity actual value
> >> > {0x6077, 0, 16}, // torque actual value
> >> > {0x6061, 0, 8}, // modes of operation display
> >> > {0x2071, 1, 16} // digital input functionality
> >> >};
> >> >
> >> >static ec_pdo_info_t epos3_pdos[] = {
> >> > {0x1600, 7, epos3_pdo_rx_entries},
> >> > {0x1a00, 6, epos3_pdo_tx_entries}
> >> >};
> >> >
> >> >static ec_sync_info_t epos3_syncs[] = {
> >> > {2, EC_DIR_OUTPUT, 1, epos3_pdos},
> >> > {3, EC_DIR_INPUT, 1, epos3_pdos+1},
> >> > {0xff}
> >> >};
> >> >
> >> >#endif
> >> >
> >>
> >>
> >/*****************************************************************************/
> >> >
> >> >#if SDO_ACCESS
> >> >static ec_sdo_request_t *sdo;
> >> >#endif
> >> >
> >>
> >>
> >/*****************************************************************************/
> >> >
> >> >void check_domain_state(ec_domain_t *domain)
> >> >{
> >> > ec_domain_state_t ds;
> >> >
> >> > ecrt_domain_state(domain, &ds);
> >> >
> >> > if (ds.working_counter != domain_state.working_counter)
> >> > printf("Domain: WC %u.\n", ds.working_counter);
> >> > if (ds.wc_state != domain_state.wc_state)
> >> > printf("Domain: State %u.\n", ds.wc_state);
> >> >
> >> > domain_state = ds;
> >> >}
> >> >
> >>
> >>
> >/*****************************************************************************/
> >> >
> >> >void check_master_state(void)
> >> >{
> >> > ec_master_state_t ms;
> >> >
> >> > ecrt_master_state(master, &ms);
> >> >
> >> > if (ms.slaves_responding != master_state.slaves_responding)
> >> > printf("%u slave(s).\n", ms.slaves_responding);
> >> > if (ms.al_states != master_state.al_states)
> >> > printf("AL states: 0x%02X.\n", ms.al_states);
> >> > if (ms.link_up != master_state.link_up)
> >> > printf("Link is %s.\n", ms.link_up ? "up" : "down");
> >> >
> >> > master_state = ms;
> >> >}
> >> >
> >>
> >>
> >/*****************************************************************************/
> >> >
> >> >void check_slave_config_states(void)
> >> >{
> >> > ec_slave_config_state_t s;
> >> >
> >> > ecrt_slave_config_state(sc_epos3, &s);
> >> >
> >> > if (s.al_state != sc_epos3_state.al_state)
> >> > printf("EPOS3 slave 0 State 0x%02X.\n", s.al_state);
> >> > if (s.online != sc_epos3_state.online)
> >> > printf("EPOS3 slave 0: %s.\n", s.online ? "online" :
> "offline");
> >> > if (s.operational != sc_epos3_state.operational)
> >> > printf("EPOS3 slave 0: %soperational.\n",
> >> > s.operational ? "" : "Not ");
> >> > sc_epos3_state = s;
> >> >}
> >> >
> >>
> >>
> >/*****************************************************************************/
> >> >
> >> >#if SDO_ACCESS
> >> >void read_sdo(void)
> >> >{
> >> > switch (ecrt_sdo_request_state(sdo)) {
> >> > case EC_REQUEST_UNUSED: // request was not used yet
> >> > ecrt_sdo_request_read(sdo); // trigger first read
> >> > break;
> >> > case EC_REQUEST_BUSY:
> >> > fprintf(stderr, "Still busy...\n");
> >> > break;
> >> > case EC_REQUEST_SUCCESS:
> >> > fprintf(stderr, "SDO value: 0x%04X\n",
> >> > EC_READ_U16(ecrt_sdo_request_data(sdo)));
> >> > ecrt_sdo_request_read(sdo); // trigger next read
> >> > break;
> >> > case EC_REQUEST_ERROR:
> >> > fprintf(stderr, "Failed to read SDO!\n");
> >> > ecrt_sdo_request_read(sdo); // retry reading
> >> > break;
> >> > }
> >> >}
> >> >
> >> >#endif
> >> >
> >>
> >>
> >/****************************************************************************/
> >> >
> >> >void cyclic_task(){
> >> > int i;
> >> >
> >> > // receive process data
> >> > ecrt_master_receive(master);
> >> > ecrt_domain_process(domain0);
> >> >
> >> > // check process data state (optional)
> >> > check_domain_state(domain0);
> >> >
> >> > if (counter) {
> >> > counter--;
> >> > }else { // do this at 1 Hz
> >> > counter = FREQUENCY;
> >> >
> >> > // calculate new process data
> >> > blink = !blink;
> >> >
> >> > // check for master state (optional)
> >> > check_master_state();
> >> >
> >> > // check for islave configuration state(s) (optional)
> >> > check_slave_config_states();
> >> >
> >> >#if SDO_ACCESS
> >> > // read process data SDO
> >> > read_sdo();
> >> > printf("read_sdo\n");
> >> >#endif
> >> > }
> >> > // read process data
> >> > //printf(" stataus word : %u\n",EC_READ_U8(domain1_pd +
> >> >off_epos3_moo));
> >> >
> >> > // write process data
> >> > EC_WRITE_U32(domain0_output + off_epos3_tpos, 0xff);
> >> >
> >> > // send process data
> >> > ecrt_domain_queue(domain0);
> >> > ecrt_master_send(master);
> >> >
> >> >
> >> >}
> >> >
> >>
> >>
> >/****************************************************************************/
> >> >
> >> >void signal_handler(int signum) {
> >> > switch (signum) {
> >> > case SIGALRM:
> >> > sig_alarms++;
> >> > break;
> >> > }
> >> >}
> >> >
> >>
> >>
> >/****************************************************************************/
> >> >
> >> >int main(int argc, char **argv)
> >> >{
> >> > ec_slave_config_t *sc;
> >> > struct sigaction sa;
> >> > struct itimerval tv;
> >> >
> >> > master = ecrt_request_master(0);
> >> > printf("ecrt_request_master is called \n");
> >> > if (!master)
> >> > return -1;
> >> >
> >> > domain0 = ecrt_master_create_domain(master);
> >> > if(!domain0)
> >> > return -1;
> >> >
> >> > if(!(sc_epos3 = ecrt_master_slave_config(
> >> > master, SLAVE_DRIVE_0, MAXON_EPOS3))){
> >> > fprintf(stderr, "Failed to get slave configuration.
> \n");
> >> > return -1;
> >> > }
> >> >
> >> > //added by kbkbc
> >> > //if (ecrt_slave_config_sdo16(sc_epos3, 0x6040, 0x00,9 ) == 0)
> >> > //printf("change SDO : 0x6040 \n");
> >> >
> >> >#if SDO_ACCESS
> >> > fprintf(stderr, "Creating SDO requests...\n");
> >> > if (!(sdo = ecrt_slave_config_create_sdo_request(sc_epos3, 0x6060,
> >> >0x00, 16))) {
> >> > fprintf(stderr, "Failed to create SDO request.\n");
> >> > return -1;
> >> > }
> >> > ecrt_sdo_request_timeout(sdo, 500); // ms
> >> >
> >> >#endif
> >> >
> >> >#if CONFIGURE_PDOS
> >> > printf("Configuring PDOs...\n");
> >> > if (ecrt_slave_config_pdos(sc_epos3, EC_END, epos3_syncs)) {
> >> > fprintf(stderr, "Failed to configure PDOs.\n");
> >> > return -1;
> >> > }
> >> > printf("configureing PDO is completed!\n");
> >> >#endif
> >> > if( ecrt_domain_reg_pdo_entry_list(domain0, domain0_regs)){
> >> > fprintf(stderr, "PDO entty registration filed! \n");
> >> > return -1;
> >> > }
> >> >
> >> > printf("Activating master...\n");
> >> > if (ecrt_master_activate(master))
> >> > return -1;
> >> >
> >> > if( !(domain0_output = ecrt_domain_data(domain0))) {
> >> > return -1;
> >> > }
> >> >
> >> >#if PRIORITY
> >> > pid_t pid = getpid();
> >> > if (setpriority(PRIO_PROCESS, pid, -19))
> >> > fprintf(stderr, "Warning: Failed to set priority: %s\n",
> >> > strerror(errno));
> >> >#endif
> >> >
> >> > sa.sa_handler = signal_handler;
> >> > sigemptyset(&sa.sa_mask);
> >> > sa.sa_flags = 0;
> >> > if (sigaction(SIGALRM, &sa, 0)) {
> >> > fprintf(stderr, "Failed to install signal handler!\n");
> >> > return -1;
> >> > }
> >> >
> >> > printf("Starting timer...\n");
> >> > tv.it_interval.tv_sec = 0;
> >> > tv.it_interval.tv_usec = 1000000 / FREQUENCY;
> >> > tv.it_value.tv_sec = 0;
> >> > tv.it_value.tv_usec = 1000;
> >> > if (setitimer(ITIMER_REAL, &tv, NULL)) {
> >> > fprintf(stderr, "Failed to start timer: %s\n",
> strerror(errno));
> >> > return 1;
> >> > }
> >> >
> >> > printf("Started.\n");
> >> >
> >> > while (1) {
> >> > pause();
> >> >
> >> > #if 0
> >> > struct timeval t;
> >> > gettimeofday(&t, NULL);
> >> > printf("%u.%06u\n", t.tv_sec, t.tv_usec);
> >> > #endif
> >> > while (sig_alarms != user_alarms) {
> >> > cyclic_task();
> >> > user_alarms++;
> >> > }
> >> > }
> >> >
> >> > return 0;
> >> >}
> >> >
> >>
> >>
> >/****************************************************************************/
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