[etherlab-users] IgH Ethercat Master and EPOS3
Muhammad Nabeel
hafiz_nabeel91 at hotmail.com
Sat Nov 23 14:38:20 CET 2013
Dear All,
When I run my sample code it is giving following status, I think EPOS3 is in operational stat, am I right? But when I connect motor it is not running, please guide me, where I am doing wrong.
ecrt_request_master is called
Configuring PDOs...
configureing PDO is completed!
Activating master...
Starting timer...
Started.
1 slave(s).
AL states: 0x02.
Link is up.
EPOS3 slave 0 State 0x02.
EPOS3 slave 0: online.
Domain: WC 3.
Domain: State 2.
AL states: 0x08.
EPOS3 slave 0 State 0x08.
EPOS3 slave 0: operational.
here is my sample code, I modify code a little bit,
#include <errno.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
/****************************************************************************/
#include "ecrt.h"
/****************************************************************************/
// Application parameters
#define FREQUENCY 100
#define PRIORITY 1
// Optional features
#define CONFIGURE_PDOS 1
#define SDO_ACCESS 0
/****************************************************************************/
// EtherCAT
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};
static ec_domain_t *domain0 = NULL;
static ec_domain_state_t domain_state = {};
static ec_slave_config_t *sc_epos3 = NULL;
static ec_slave_config_state_t sc_epos3_state = {};
// Timer
static unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;
/****************************************************************************/
// process data
static uint8_t *domain0_output = NULL;
#define SLAVE_DRIVE_0 0, 0
#define MAXON_EPOS3 0x000000fb, 0x64400000
// offsets for PDO entries
static unsigned int off_epos3_cntlwd;
//static unsigned int off_epos3_tvel;
static unsigned int off_epos3_tpos;
static unsigned int off_epos3_off_pos;
static unsigned int off_epos3_off_vel;
static unsigned int off_epos3_off_toq;
static unsigned int off_epos3_moo;
static unsigned int off_epos3_dof;
static unsigned int off_epos3_status;
static unsigned int off_epos3_pos_val;
static unsigned int off_epos3_vel_val;
static unsigned int off_epos3_toq_val;
static unsigned int off_epos3_mood;
static unsigned int off_epos3_dif;
const static ec_pdo_entry_reg_t domain0_regs[] = {
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x6040, 0, &off_epos3_cntlwd},
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x607a, 0, &off_epos3_tpos},
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x60b0, 0, &off_epos3_off_pos},
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x60b1, 0, &off_epos3_off_vel},
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x60b2, 0, &off_epos3_off_toq},
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x6060, 0, &off_epos3_moo},
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x2078, 1, &off_epos3_dof},
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x6041, 0, &off_epos3_status},
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x6064, 0, &off_epos3_pos_val},
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x606c, 0, &off_epos3_vel_val},
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x6077, 0, &off_epos3_toq_val},
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x6061, 0, &off_epos3_mood},
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x2071, 1, &off_epos3_dif},
{}
};
static unsigned int counter = 0;
static unsigned int blink = 0;
/*****************************************************************************/
#if CONFIGURE_PDOS
/* Master 0, Slave 0, "EPOS3"
* Vendor ID: 0x000000fb
* Product code: 0x64400000
* Revision number: 0x22100000
*/
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x6040, 0x00, 16}, /* 0x6040:00 */
{0x607a, 0x00, 32}, /* 0x607A:00 */
{0x60b0, 0x00, 32}, /* 0x60B0:00 */
{0x60b1, 0x00, 32}, /* 0x60B1:00 */
{0x60b2, 0x00, 16}, /* 0x60B2:00 */
{0x6060, 0x00, 8}, /* 0x6060:00 */
{0x2078, 0x01, 16}, /* 0x2078:01 */
{0x60b8, 0x00, 16}, /* 0x60B8:00 */
{0x6041, 0x00, 16}, /* 0x6041:00 */
{0x6064, 0x00, 32}, /* 0x6064:00 */
{0x606c, 0x00, 32}, /* 0x606C:00 */
{0x6077, 0x00, 16}, /* 0x6077:00 */
{0x6061, 0x00, 8}, /* 0x6061:00 */
{0x2071, 0x01, 16}, /* 0x2071:01 */
{0x60b9, 0x00, 16}, /* 0x60B9:00 */
{0x60ba, 0x00, 32}, /* 0x60BA:00 */
{0x60bb, 0x00, 32}, /* 0x60BB:00 */
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1600, 8, slave_0_pdo_entries + 0}, /* 1st receive PDO Mapping */
{0x1a00, 9, slave_0_pdo_entries + 8}, /* 1st transmit PDO Mapping */
};
ec_sync_info_t epos3_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_ENABLE},
{3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
{0xff}
};
#endif
/*****************************************************************************/
#if SDO_ACCESS
static ec_sdo_request_t *sdo;
#endif
/*****************************************************************************/
void check_domain_state(ec_domain_t *domain)
{
ec_domain_state_t ds;
ecrt_domain_state(domain, &ds);
if (ds.working_counter != domain_state.working_counter)
printf("Domain: WC %u.\n", ds.working_counter);
if (ds.wc_state != domain_state.wc_state)
printf("Domain: State %u.\n", ds.wc_state);
domain_state = ds;
}
/*****************************************************************************/
void check_master_state(void)
{
ec_master_state_t ms;
ecrt_master_state(master, &ms);
if (ms.slaves_responding != master_state.slaves_responding)
printf("%u slave(s).\n", ms.slaves_responding);
if (ms.al_states != master_state.al_states)
printf("AL states: 0x%02X.\n", ms.al_states);
if (ms.link_up != master_state.link_up)
printf("Link is %s.\n", ms.link_up ? "up" : "down");
master_state = ms;
}
/*****************************************************************************/
void check_slave_config_states(void)
{
ec_slave_config_state_t s;
ecrt_slave_config_state(sc_epos3, &s);
if (s.al_state != sc_epos3_state.al_state)
printf("EPOS3 slave 0 State 0x%02X.\n", s.al_state);
if (s.online != sc_epos3_state.online)
printf("EPOS3 slave 0: %s.\n", s.online ? "online" : "offline");
if (s.operational != sc_epos3_state.operational)
printf("EPOS3 slave 0: %soperational.\n",
s.operational ? "" : "Not ");
sc_epos3_state = s;
}
/*****************************************************************************/
#if SDO_ACCESS
void read_sdo(void)
{
switch (ecrt_sdo_request_state(sdo)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo); // trigger first read
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "SDO value: 0x%04X\n",
EC_READ_U16(ecrt_sdo_request_data(sdo)));
ecrt_sdo_request_read(sdo); // trigger next read
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
ecrt_sdo_request_read(sdo); // retry reading
break;
}
}
#endif
/****************************************************************************/
void cyclic_task(){
int i;
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain0);
// check process data state (optional)
check_domain_state(domain0);
if (counter) {
counter--;
}else { // do this at 1 Hz
counter = FREQUENCY;
// calculate new process data
blink = !blink;
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
#if SDO_ACCESS
// read process data SDO
read_sdo();
printf("read_sdo\n");
#endif
}
// read process data
//printf(" stataus word : %u\n",EC_READ_U8(domain1_pd +off_epos3_moo));
// write process data
EC_WRITE_U32(domain0_output + off_epos3_tpos, 0xff);
// send process data
ecrt_domain_queue(domain0);
ecrt_master_send(master);
}
/****************************************************************************/
void signal_handler(int signum) {
switch (signum) {
case SIGALRM:
sig_alarms++;
break;
}
}
/****************************************************************************/
int main(int argc, char **argv)
{
ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
master = ecrt_request_master(0);
printf("ecrt_request_master is called \n");
if (!master)
return -1;
domain0 = ecrt_master_create_domain(master);
if(!domain0)
return -1;
if(!(sc_epos3 = ecrt_master_slave_config(
master, SLAVE_DRIVE_0, MAXON_EPOS3))){
fprintf(stderr, "Failed to get slave configuration. \n");
return -1;
}
//added by kbkbc
//if (ecrt_slave_config_sdo16(sc_epos3, 0x6040, 0x00,9 ) == 0)
//printf("change SDO : 0x6040 \n");
#if SDO_ACCESS
fprintf(stderr, "Creating SDO requests...\n");
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_epos3, 0x6060,
0x00, 16))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
#endif
#if CONFIGURE_PDOS
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_epos3, EC_END, epos3_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
printf("configureing PDO is completed!\n");
#endif
if( ecrt_domain_reg_pdo_entry_list(domain0, domain0_regs)){
fprintf(stderr, "PDO entty registration filed! \n");
return -1;
}
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
if( !(domain0_output = ecrt_domain_data(domain0))) {
return -1;
}
#if PRIORITY
pid_t pid = getpid();
if (setpriority(PRIO_PROCESS, pid, -19))
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
#endif
sa.sa_handler = signal_handler;
sigemptyset(&sa.sa_mask);
sa.sa_flags = 0;
if (sigaction(SIGALRM, &sa, 0)) {
fprintf(stderr, "Failed to install signal handler!\n");
return -1;
}
printf("Starting timer...\n");
tv.it_interval.tv_sec = 0;
tv.it_interval.tv_usec = 1000000 / FREQUENCY;
tv.it_value.tv_sec = 0;
tv.it_value.tv_usec = 1000;
if (setitimer(ITIMER_REAL, &tv, NULL)) {
fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
return 1;
}
printf("Started.\n");
while (1) {
pause();
#if 0
struct timeval t;
gettimeofday(&t, NULL);
printf("%u.%06u\n", t.tv_sec, t.tv_usec);
#endif
while (sig_alarms != user_alarms) {
cyclic_task();
user_alarms++;
}
}
return 0;
}
From: hafiz_nabeel91 at hotmail.com
To: raziebe at gmail.com; shabbyx at gmail.com
CC: etherlab-users at etherlab.org
Subject: RE: [etherlab-users] IgH Ethercat Master and EPOS3
Date: Sat, 23 Nov 2013 11:36:22 +0500
Thank you for your reply, how can I fix ubuntu to run the RT task? I am new to ubuntu and do not know how can I do that.
From: raziebe at gmail.com
Date: Fri, 22 Nov 2013 21:20:30 +0200
Subject: Re: [etherlab-users] IgH Ethercat Master and EPOS3
To: shabbyx at gmail.com
CC: hafiz_nabeel91 at hotmail.com; etherlab-users at etherlab.org
It means you are running a system that forbids RT tasks from running. you need to fix ubunto.
I suggest you take a look at the boot command line.
Raz Ben Yehuda
On Fri, Nov 22, 2013 at 4:23 PM, Shahbaz Youssefi <shabbyx at gmail.com> wrote:
I'm forwarding your question to the mailing list.
On Fri, Nov 22, 2013 at 3:18 PM, Muhammad Nabeel <hafiz_nabeel91 at hotmail.com> wrote:
AoA Shahbaz,
Hope you are doing well, I am new to Ubuntu and Ethercat.
I am using EPOS3 from maxon and IgH ethercat master but I am facing difficulties in communication between EPOS3 and IgH ethercat master. I need your help, I tried myself but I still I am confuse how to send/receive data to/from EPOS3. From Etherlab mailing I have found a source code but try to understand it but I still have some confusions.
Please help me, I will be very thankful to you.
I have attached the source code, please see the attachment. Below is the result when I connect EPOS3 and run the program.
ecrt_request_master is called
Configuring PDOs...
configureing PDO is completed!
Activating master...
Warning: Failed to set priority: Permission denied
Starting timer...
Started.
1 slave(s).
AL states: 0x02.
Link is up.
EPOS3 slave 0 State 0x02.
EPOS3 slave 0: online.
What is the meaning of this warning "Failed to set priority: Permission denied"?
Please guide me.
Thank you.
Best regards
Nabeel
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