[etherlab-users] Starter: Examining Slave questions

[Ulf Stelbe]

 Hi,

I have found some information in a thread "possible master quproblems"
initited by Ian Norton.

Well, seems our device, a servo S700 behaves like the S400 of Ian. I have
contacted Danaher and with a firmware upgrade I got slave pdo information
and I also got the structures with cstruct:

/* Master 0, Slave 0, "S300_S400_S600_S700"
 * Vendor ID:       0x0000006a
 * Product code:    0x03000600
 * Revision number: 0x00000001
 */

ec_pdo_entry_info_t slave_0_pdo_entries[] = {
   {0x606b, 0x00, 32},
   {0x6040, 0x00, 16},
   {0x6064, 0x00, 32},
   {0x6041, 0x00, 16},
};

ec_pdo_info_t slave_0_pdos[] = {
   {0x1702, 2, slave_0_pdo_entries + 0},
   {0x1b01, 2, slave_0_pdo_entries + 2}, };

ec_sync_info_t slave_0_syncs[] = {
   {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
   {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
   {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_DISABLE},
   {3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE}, };

Unfortunately the ethercat config command did not tell anything.

I am not so familiar with the XML-Files like Florian but I suppose, the S700
supports the control of the position value and of the velocity value. Can
someone help me understand how to define the ec_pdo_entry_reg_t structures?
Does I have to define 2 structures?

For the specialists I have attached the XML File provided by Danaher. There
are 8 entries of RxPdo and 7 entries of TxPdo. The following entries show
the RxPdo of Position value and Velocity value: 

				<RxPdo Fixed="1">
					<Index>#x1701</Index>
					<Name>Outputs</Name>
					<Exclude>#x1702</Exclude>
					<Exclude>#x1703</Exclude>
					<Exclude>#x1704</Exclude>
					<Exclude>#x1705</Exclude>
					<Exclude>#x1706</Exclude>
					<Exclude>#x1707</Exclude>
					<Exclude>#x1708</Exclude>
					<Entry>
						<Index>#x6062</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Position demand
value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control word</Name>
						<DataType>UINT</DataType>
					</Entry>
				</RxPdo>

				<RxPdo Fixed="1" Sm="2">
					<Index>#x1702</Index>
					<Name>Outputs</Name>
					<Exclude>#x1701</Exclude>
					<Exclude>#x1703</Exclude>
					<Exclude>#x1704</Exclude>
					<Exclude>#x1705</Exclude>
					<Exclude>#x1706</Exclude>
					<Exclude>#x1707</Exclude>
					<Exclude>#x1708</Exclude>
					<Entry>
						<Index>#x606b</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity demand
value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control word</Name>
						<DataType>UINT</DataType>
					</Entry>
				</RxPdo>

Can anybody help understand this? We want to control position and velocity.
Perhaps someone has any experiences with that.

Thanks in advance and regards

Ulf Stelbe

-----Ursprüngliche Nachricht-----
Von: etherlab-users-bounces at etherlab.org
[mailto:etherlab-users-bounces at etherlab.org] Im Auftrag von Ulf Stelbe
Gesendet: Donnerstag, 8. April 2010 18:59
An: etherlab-users at etherlab.org
Betreff: [etherlab-users] Starter: Examining Slave questions

Hello, just a starter question regarding the ethercat master. I try to be a
friend with a servo amplifier, but it is not telling me the secrets.
I just tried the following commands: ethercat master, slaves, and sii_read,
the result is shown below.  

Next I wanted to see the configuration (ethercat config) and the sdo's and
pdo's (ethercat sdos, pdos) but I got nothing (no error, the app returned
immediately without any output).

Any help is appreciated. Is there something I forgot? I searched in the
mailing list threads but without success. Perhaps someone can point me to
the right place.

Thanks in advance

Ulf
______________________________________________
OTLO VR Systeme GmbH
Zelckstraße 13, 18055 Rostock
Email: ulf.stelbe at otlo.de
Web  : www.otlo.de
Tel. : +49 381 44 03 59 30
Fax. : +49 381 44 44 232
Amtsgericht Rostock, HRB 8874
GF: Ulf Stelbe, Dr.-Ing. Nico Günther
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