[etherlab-users] Configuring watchdog timers on slaves

[v.i.sluiter at utwente.nl]

Hi Leonid,

We had the same issue with Elmo Gold Whistle drives. You can find a quick description here: https://www.symbitron.eu/wiki/index.php?title=Setting_up_Slaves#Debugging_ELMO_Gold_Whistle 

The issue we had with the heartbeat was resolvable this way (from my lab notebook...)
- object 0x6041 had value 0x0218, indicating a fault
- 0x1003:00 had 2 errors, both 0x8130. According to DS402 and object 0x2F21 this meant a heartbeat event had taken place
- We wrote value 0 to object 6007:00, to not do anything in the case of a heartbeat failure.

Check the value of the register  using: ethercat upload -p 4 --type uint16 0x6007 00 
Change the value with this command: ethercat download -p 4 --type uint16 0x6007 00 00

Greetings,
Victor

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Today's Topics:

   1. Configuring watchdog timers on slaves (Leonid Sapronov)


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Message: 1
Date: Fri, 18 Dec 2015 16:12:01 -0500
From: Leonid Sapronov <sapronov at roboticresearch.com>
To: etherlab-users at etherlab.org
Subject: [etherlab-users] Configuring watchdog timers on slaves
Message-ID: <567476A1.3060804 at roboticresearch.com>
Content-Type: text/plain; charset=utf-8

Hi all,
I'm new to EtherCAT and Etherlab. My test setup consists of two Elmo Gold Cello controllers connected to a Ubuntu machine running the Etherlab ethercat master. Everything works fine - I can talk to the controllers over EtherCAT. I can also access them through Elmo's EAS software. Somewhere on the Elmo's there's a Beckhoff ASIC that implements all the EtherCAT slave functions. This ASIC has several registers that control the operation of the watchdog timer. I know their addresses, but how can I actually access and write to those registers?

An Elmo engineer said that this is something I have to configure from my host and that the Etherlab software may have a way of letting me do this. Any help greatly appreciated.



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