[etherlab-users] Slave RxPDOs exchange problem

Tue Nov 20 16:54:25 CET 2012

Hi Jun,
You 're right I'm not familiar with CiA 402, and with ethercat, and with 
linux :p
I found the sequence in manual, but the slave don't take the 
READY_TO_SWITCH_ON by setting controlword = 0x06...
When i'm in OP mode i try to write  0x06 and this do nothing...
If i make the sequence step by step via USB no problem.
Thanks for your help.
Best Regards
Oliver Tempier

Le 20/11/2012 13:55, Jun Yuan a écrit :
> Hi Olivier,
>
> It seems you are not familiar with CiA 402, which your driver is 
> using. The ethercat master will not enable your driver automatically, 
> it is your job to do that.
>
> Does your driver have some manuals for CoE CiA402? Search for the 
> instruction for the controlword 0x6040 and the statusword 0x6041 to 
> see how to turn your driver on.  Implement it in your code according 
> to the CiA402 document.
>
> Basically, the sequence to enable a CiA 402 driver would be like 
> following:
> 1) If the slave is in SWITCH_ON_DISABLED status, it needs to get 
> READY_TO_SWITCH_ON first by setting controlword = 0x06;
> 2) when your driver is READY_TO_SWITCH_ON, setting controlword to 0x07 
> to switch it on.
> 3) And when it has the status SWITCHED_ON, set 0x0F to the controlword 
> will enable Operation. After that your driver should be enabled.
>
> Regards,
> Jun
>
>
> On Tue, Nov 20, 2012 at 12:21 PM, Olivier Tempier 
> <olivier.tempier at lirmm.fr <mailto:olivier.tempier at lirmm.fr>> wrote:
>
>     Hi Jun,
>     thanks for your answer.
>
>
>     >well, can you specify the meaning of "can't read/write RxPDOS"?
>     I change value with usb cable for example, i enable the driver and
>     the Control_World value change and i enter 500 in torque value.
>     The motor turn...
>     I try to read Control_World via ethercat. It always stay to 0x00
>     and i try to enter 0 in torque register  via ethercat to stop the
>     motor and the value never change and stay to 500...
>     It's why i say that i can't read or write RxPDOS.
>     With TXPDOS, i have the same value with ethercat and via USB
>     interface.
>     And i don't understand why...
>
>
>     >So you know how to write a RXPDO. Everything look fine. I didn't
>     see you write any other RxPDOs, so why did you say you can't
>     read/write them? Where is exactly the problem?
>     Yes, i think i understand how to write or read RXPDO but my code
>     have no effect on the driver's register... I have no error but
>     nothing happen... :(
>
>     I hoped to have been more clear about my problem
>     Best regards,
>     Oliver Tempier
>
>     Le 20/11/2012 12:02, Jun Yuan a écrit :
>>     Hi Olivier,
>>
>>     well, can you specify the meaning of "can't read/write RxPDOS"?
>>
>>     in your code, you read the EPOS3_0_Control_Word, which shows
>>     0x00. It looks fine, as you didnot set the value to anything
>>     else. So you CAN read RxPDO EPOS3_0_Control_Word. And by default
>>     it is 0x00. What did you expect?
>>     printk(KERN_INFO PFX "RxPDOs********************************************************************* \n");
>>     status=EC_READ_U16(domain1_pd + EPOS3_0_Control_Word);
>>     printk(KERN_INFO PFX "Robotics => Cyclic_task=>EPOS3_0 Control Word = %d \n",status);
>>
>>     And you've tried to set EPOS3_0_Target_Torque to 0,
>>     EC_WRITE_S16(domain1_pd + EPOS3_0_Target_Torque,0);
>>     So you know how to write a RXPDO. Everything look fine. I didn't
>>     see you write any other RxPDOs, so why did you say you can't
>>     read/write them? Where is exactly the problem?
>>
>>     Best Regards,
>>     Jun
>>
>>     On Tue, Nov 20, 2012 at 10:40 AM, Olivier Tempier
>>     <olivier.tempier at lirmm.fr <mailto:olivier.tempier at lirmm.fr>> wrote:
>>
>>         Hello,
>>         I try to use an maxon EPOS3 driver with igh ethercat library.
>>         I wrote a test code in c, all seems ok. I don't see any
>>         message error in debug file.
>>         But i can't read/write RxPDOS and i don't see why... I have
>>         no problem to read TXPDOs...
>>         I join debug file and my source file.
>>         I'm on this problem for a week, i'm starting to go crazy :p
>>         Please, If someone could help me?
>>         Regards
>>         Oliver TEMPIER
>>
>>
>>
>>
>>
>>
>>
>>
>>
>>         _______________________________________________
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>>         etherlab-users at etherlab.org <mailto:etherlab-users at etherlab.org>
>>         http://lists.etherlab.org/mailman/listinfo/etherlab-users
>>
>>
>>
>>
>>     -- 
>>     Jun Yuan
>>     [Aussprache: Djün Üän]
>>
>>     Robotics Technology Leaders GmbH
>>     Am Loferfeld 58, D-81249 München
>>     Tel: +49 89 189 0465 24 <tel:%2B49%2089%20189%200465%2024>
>>     Mobile: +49 176 2176 5238 <tel:%2B49%20176%202176%205238>
>>     Fax: +49 89 189 0465 11 <tel:%2B49%2089%20189%200465%2011>
>>     mailto: j.yuan at rtleaders.com <mailto:j.yuan at rtleaders.com>
>>
>>     Umlautregel in der chinesischen Lautschrift Pinyin: Nach den
>>     Anlauten y, j, q, und x wird u als ü ausgesprochen, z.B. yu => ü,
>>      ju => dschü,  qu => tschü,  xu => schü.
>
>
>
>
> -- 
> Jun Yuan
> [Aussprache: Djün Üän]
>
> Robotics Technology Leaders GmbH
> Am Loferfeld 58, D-81249 München
> Tel: +49 89 189 0465 24
> Mobile: +49 176 2176 5238
> Fax: +49 89 189 0465 11
> mailto: j.yuan at rtleaders.com <mailto:j.yuan at rtleaders.com>
>
> Umlautregel in der chinesischen Lautschrift Pinyin: Nach den Anlauten 
> y, j, q, und x wird u als ü ausgesprochen, z.B. yu => ü,  ju => dschü, 
>  qu => tschü,  xu => schü.

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