[etherlab-users] "Dancing" robot base using ethercat

[Uwe Hermann]

On Tue, Dec 16, 2008 at 01:22:29PM +0900, Hobin Yoon wrote:
> It is quite interesting. Could you give us some more details on how you
> invoked 'ethercat'? Because 'ethercat' doesn't seem to provide PDO mapping
> and data writing to domain.

Yeah, we're hardcoding certain "commands" to the four slaves, e.g. like this:

E=/opt/etherlab/bin/ethercat

# Disable sync.
sudo $E download -p 0 --type uint16 0x4213 0 0
sudo $E download -p 1 --type uint16 0x4213 0 0
sudo $E download -p 2 --type uint16 0x4213 0 0
sudo $E download -p 3 --type uint16 0x4213 0 0

# Init 1
sudo $E download -p 0 --type uint16 0x6040 0 6
sudo $E download -p 1 --type uint16 0x6040 0 6
sudo $E download -p 2 --type uint16 0x6040 0 6
sudo $E download -p 3 --type uint16 0x6040 0 6

# Init 2
sudo $E download -p 0 --type uint16 0x6040 0 7
sudo $E download -p 1 --type uint16 0x6040 0 7
sudo $E download -p 2 --type uint16 0x6040 0 7
sudo $E download -p 3 --type uint16 0x6040 0 7

# Init 3
sudo $E download -p 0 --type uint16 0x6040 0 15 
sudo $E download -p 1 --type uint16 0x6040 0 15 
sudo $E download -p 2 --type uint16 0x6040 0 15 
sudo $E download -p 3 --type uint16 0x6040 0 15 

# Move robot forward with full speed (2200).
sudo $E download -p 0 --type int16 0x6042 0 -- 2200
sudo $E download -p 1 --type int16 0x6042 0 -- -2200
sudo $E download -p 2 --type int16 0x6042 0 -- 2200
sudo $E download -p 3 --type int16 0x6042 0 -- -2200

# Wait a bit.
sleep 1

# Stop robot.
sudo $E download -p 0 --type int16 0x6042 0 0
sudo $E download -p 1 --type int16 0x6042 0 0
sudo $E download -p 2 --type int16 0x6042 0 0
sudo $E download -p 3 --type int16 0x6042 0 0


HTH, Uwe.
-- 
http://www.hermann-uwe.de  | http://www.holsham-traders.de
http://www.crazy-hacks.org | http://www.unmaintained-free-software.org