[etherlab-users] Slave RxPDOs exchange problem

[Olivier Tempier]

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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>
> -- 
> Jun Yuan
> [Aussprache: Djün Üän]
>
> Robotics Technology Leaders GmbH
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