[etherlab-users] No CoE communication

[Graeme Foot]

Hi,

I have attached a test app to have a look at.  It is a (very) cut down version of how my app works.  Of course I use RTAI, so it won't be compatible with your Xenomi environment.


In main.c at the top of runECat() I have a list of EtherCAT devices and their addresses.  It is hard coded here but can of course be loaded from a config file.  The device names match devices in the etherCATSlaves.c file.

etherCATMaster.c contains the code to configure and run the master.  etherCATSlaves.c contains each slave's code.

yaskawaSGDV_create()
- configures the device and gets the PDO command offsets

yaskawaSGDV_prepareToRun()
- calculates each commands address (after the domains are populated and allocated)
- sets cyclic synchronous position mode (optional, the mode can be set at any time while running)
- sets the control word to zero, just in case

yaskawaSGDV_run()
- is called once each scan.  add code here to control the axis

yaskawaSGDV_prepareToStop()
- is called when the app is closing.  add any code here to clean up your axis


Note: In this app the prepareToStop() functions are called once and then the app is shut down immediately.  In reality you should continue your realtime cycle until all of the devices are stopped, disabled and safe to turn off.  The app also relies on some of my patches.


I hope this helps

Regards,
Graeme.

 

-----Original Message-----
From: etherlab-users [mailto:etherlab-users-bounces at etherlab.org] On Behalf Of Graeme Foot
Sent: Wednesday, 16 August 2017 10:42 a.m.
To: Rahul Deshpande <rahulgd92 at gmail.com>; etherlab-users at etherlab.org
Subject: Re: [etherlab-users] No CoE communication

Hi,

I've been asked to let you know what master version and patches I'm using.  I'm still running an old version (2526 from the stable-1.5 branch, 12/02/2013).  The script I use to download it is attached (004-etherlab_master).

I use buildroot to create my linux system, so the script  tar's the master folder and puts it in the buildroot downloads folder.  Note: I also use a really old buildroot from 2012 with a few modifications, but I have attached the mk file that it uses.

The patches that I apply are also attached.

The build options I use are:
--with-linux-dir="<linux dir>"
--enable-cycles
--enable-rtdm
--enable-e100
--enable-e1000
--enable-e1000e
--enable-cx2100


I use RTAI, but that shouldn't make any difference.


Regards,
Graeme.


-----Original Message-----
From: etherlab-users [mailto:etherlab-users-bounces at etherlab.org] On Behalf Of Graeme Foot
Sent: Tuesday, 15 August 2017 12:39 p.m.
To: Rahul Deshpande <rahulgd92 at gmail.com>; etherlab-users at etherlab.org
Subject: Re: [etherlab-users] No CoE communication

Remember to reply-all to mail the forum as well.

Line 85 has: #define Yaskawa_Sigma7  0x00000539, 0x02200301 This is different to my drive, so it may still be the Sigma 7 id causing a mismatch, but it is the id being returned from the ethercat struct command.

Other than that, I've got no idea.

Graeme.


-----Original Message-----
From: Rahul Deshpande [mailto:rahulgd92 at gmail.com]
Sent: Tuesday, 15 August 2017 3:57 a.m.
To: Graeme Foot <Graeme.Foot at touchcut.com>
Subject: No CoE communication

Hi Graeme,

I understand I have been mailing a lot, my questions may seem repetitive.

The positive now is I was able to get to OP state by forcefully setting 1c12 and 1c13 to 0 (PDO assignment fro SM2 and SM3).

I am still not able to configure the PDOs though. What I have narrowed down to is, somehow CoE communication just does not happen. I was going through the etherlab forum and came across a post where they mentioned some sdo's had to be set prior to configuring the PDOs. Is it that ?

Also, It would be great if I could just reach out to you on your phone if thats not an issue. Could sort out my problems faster and not disturb you with constant emails. Do let me know if thats an option.
Thank you so much.

Regards,
Rahul
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