[etherlab-users] Starter: Examining Slave questions

[Ian Norton]

Hi,

Yes, the Dannaher products on Ethercat are painful! 

We have struggled for months to get our servo drive going with only partial success.

They should have fixed pdo's so you don't need to register them, just set up the sync managers.

However, we found that we had to do the register in order to get info out. We could see velocity (and current sometimes!).

But we cant get the thing engaged, ie issue other control commands.

We have now arranged a day or two at KM in Dusseldorf in a couple of weeks time along with Etherlab to try to sort this out.

We also found that the device seemed (randomly) to be configured sometimes as you have it below, and sometimes as a "1703" variety!

You can use the "slave" option of the master to see what the device thinks it is configured as.


Regards
Ian

-----Original Message-----
From: etherlab-users-bounces at etherlab.org [mailto:etherlab-users-bounces at etherlab.org] On Behalf Of Ulf Stelbe
Sent: 14 April 2010 21:05
To: etherlab-users at etherlab.org
Subject: Re: [etherlab-users] Starter: Examining Slave questions

 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