[etherlab-users] Read / Write PDOs & PDO Mapping
Gavin Lambert
gavin.lambert at tomra.com
Tue Jan 28 23:09:32 CET 2020
Not all slaves will let you reconfigure and/or reassign PDOs.
Enable "ethercat debug 1" and then look at the syslog output after starting your app.
Gavin Lambert
Senior Software Developer
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From: BUSSIERES Vincent
Sent: Tuesday, 28 January 2020 23:52
To: etherlab-users at etherlab.org
Subject: [etherlab-users] Read / Write PDOs & PDO Mapping
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:image003.jpg at 01D5D694.051D5550]
[cid:image005.jpg at 01D5D694.051D5550]
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:image007.jpg at 01D5D694.051D5550]
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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