[etherlab-users] Read / Write PDOs & PDO Mapping

[BUSSIERES Vincent]

Hello

I am a beginner in EtherCAT technology.
I try to control a servodrive using PDOs. I succeded in settings parameters like homing mode using SDOs.
Now, I'd like to send command and read status using PDOs. I tried to make PDO mapping like in « examples/user/main.c » example.

[cid:image006.jpg at 01D5D5D1.4F59E430]

[cid:image007.jpg at 01D5D5D1.4F59E430]

You can see my source code below :

static unsigned int off_ctl_word;
static unsigned int off_status;
static unsigned int off_position_value;

const static ec_pdo_entry_reg_t domain1_regs[] = {
    {0, 0, 0x0000009A, 0x00030924, 0x6040, 0, &off_ctl_word},
    {0, 0, 0x0000009A, 0x00030924, 0x6041, 0, &off_status},
    {0, 0, 0x0000009A, 0x00030924, 0x6064, 0, &off_position_value},
    {}
};

ec_pdo_entry_info_t slave_0_pdo_entries[] = {
    {0x6040, 0x00, 16},
    {0x6041, 0x00, 16},
    {0x6064, 0x00, 32},
};

ec_pdo_info_t slave_0_pdos[] = {
    {0x160a, 1, slave_0_pdo_entries + 0},
    {0x1a0a, 1, slave_0_pdo_entries + 1},
    {0x1a0e, 1, slave_0_pdo_entries + 2},
};

ec_sync_info_t slave_0_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, 2, slave_0_pdos + 1, EC_WD_DISABLE},
    {0xff}
};


static ec_master_t *master = nullptr;
static ec_domain_t *domain1 = nullptr;
static ec_slave_config_t *sc_elmo = nullptr;
static ec_slave_info_t slaveInfo;

int main(int argc, char *argv[])
{
    QCoreApplication a(argc, argv);


    master = ecrt_request_master(0);
    if ( !master ) {
        exit( EXIT_FAILURE );
    }

    domain1 = ecrt_master_create_domain(master);
    if ( !domain1 ) {
    exit( EXIT_FAILURE );
    }

    if ( !(sc_elmo = ecrt_master_slave_config(master, 0, 0, 0x0000009A, 0x00030924)) ) {
        fprintf(stderr, "Failed to get slave configuration for AKD.\n");
        exit( EXIT_FAILURE );
    }

                   uint32_t abort_code = 0;
    uint8_t lHomingMethod[] = {33};
    uint8_t lModeOfOperation[] = {6};

    if(ecrt_master_sdo_download(master, 0, 0x6098, 0, (const uint8_t*)lHomingMethod, sizeof(lHomingMethod), &abort_code)<0)
    {
        exit( EXIT_FAILURE );
    }

    if(ecrt_master_sdo_download(master, 0, 0x6060, 0, (const uint8_t*)lModeOfOperation, sizeof(lModeOfOperation), &abort_code)<0)
    {
        exit( EXIT_FAILURE );
    }

    if (ecrt_slave_config_pdos(sc_elmo, EC_END, slave_0_syncs))
    {
        exit( EXIT_FAILURE );
    }

    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs))
    {
        exit( EXIT_FAILURE );
    }

     if ( ecrt_master_activate( master ) ) {
     exit( EXIT_FAILURE );
     }

     ecrt_release_master(master);

    return a.exec();
}


I have no error, but PDO mapping doesn't seem to be done when I compare it with command lines tool below :

[cid:image010.jpg at 01D5D5D1.4F59E430]


Did I miss anything ?
Moreover I don't know how to read and write in PDOs. In user example, I only see how to write in PDO using EC_WRITE_XX, but I don't know how to read ? Is it with EC_READ_XX ?
We don't know if data are available, is there a callback function to be notified is data has been updated ?
What is the period of EtherCAT cycle ? Is it the period of the while loop in the cyclic task ?

Best regards

Vincent BUSSIERES
Responsable Technique Logiciel

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