[etherlab-dev] A problem related to the pdo communication
Royal Qing
royalqing at 163.com
Thu Dec 6 13:39:37 CET 2012
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:
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>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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