[Etherlab-users] Slave shows INVALID PDO MAPPING even after giving PDO mapping

[Pranay Tummalapalli]

Hey Andreas,

Thanks for replying. I have used the Denali XCR-E motor drive by Novanta.
The same drive always works in my system and never requires a power cycle
for it to work. So I'm assuming this is not the case here. It is not
written in the manuals either, as far as I have seen.

Would you like some data to be able to help better?

Here is the code:

const static ec_pdo_entry_reg_t domain1_regs[] = {
    {drivePos, DRIVE1, 0x6040, 0x00, &pitch.rx_pdo.control_word},
 //RXPDO
    {drivePos, DRIVE1, 0x607a, 0x00, &pitch.rx_pdo.position_setpoint},
    {drivePos, DRIVE1, 0x60ff, 0x00, &pitch.rx_pdo.velocity_setpoint},
    {drivePos, DRIVE1, 0x6060, 0x00, &pitch.rx_pdo.op_mode},
//TXPDO
    {drivePos, DRIVE1, 0x6041, 0x00, &pitch.tx_pdo.status_word},
    {drivePos, DRIVE1, 0x6064, 0x00, &pitch.tx_pdo.actual_position},
    {drivePos, DRIVE1, 0x606c, 0x00, &pitch.tx_pdo.actual_velocity},
    {drivePos, DRIVE1, 0x6061, 0x00, &pitch.tx_pdo.op_mode_display},
    {}
};

ec_pdo_entry_info_t slave_0_pdo_entries[] = {
    {0x6040, 0x00, 16}, /* Control Word */
    {0x607a, 0x00, 32}, /* Position set-point */
    {0x60ff, 0x00, 32}, /* Velocity set-point */
    {0x6060, 0x00, 8}, /* Operation mode */
    {0x6041, 0x00, 16}, /* Status Word */
    {0x6064, 0x00, 32}, /* Actual position */
    {0x606c, 0x00, 32}, /* Actual velocity */
    {0x6061, 0x00, 8},  /*Mode of op display*/
};

static ec_pdo_info_t slave_0_pdos[] =
{
{0x1600, 4, slave_0_pdo_entries + 0},
{0x1a00, 4, slave_0_pdo_entries + 4},
};

/* Initialise the sync manager */
ec_sync_info_t slave_0_syncs[] = {

    {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0},
    {3, EC_DIR_INPUT, 1, slave_0_pdos + 1},
    {0xff}
};
/*****************************************************************************/

void check_domain1_state(void)  /*Check the domain state and print the
working counter */
{
    ec_domain_state_t ds;

    ecrt_domain_state(domain1, &ds);

    if (ds.working_counter != domain1_state.working_counter) {
        printf("Domain1: WC %u.\n", ds.working_counter);
    }
    if (ds.wc_state != domain1_state.wc_state) {
        printf("Domain1: State %u.\n", ds.wc_state);
    }

    domain1_state = ds;
}

/*****************************************************************************/

void check_master_state(void)   /* check the master state and print */
{
    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_in, &s);

    if (s.al_state != sc_in_state.al_state) {
        printf("AnaIn: State 0x%02X.\n", s.al_state);
    }
    if (s.online != sc_in_state.online) {
        printf("AnaIn: %s.\n", s.online ? "online" : "offline");
    }
    if (s.operational != sc_in_state.operational) {
        printf("AnaIn: %soperational.\n", s.operational ? "" : "Not ");
    }

    sc_in_state = s;
}

/************************************************************************************************************/

void move_axis_to(Axis axs, long pos){

    axs.move_setpoint = pos;

    axs.status =EC_READ_U16(domain1_pd + axs.tx_pdo.status_word);
    axs.position = EC_READ_S32(domain1_pd + axs.tx_pdo.actual_position);
    axs.opm_d = EC_READ_S8(domain1_pd + axs.tx_pdo.op_mode_display);

    if((axs.status & 0x0040) == 0x0040){
    EC_WRITE_U16(domain1_pd + axs.rx_pdo.control_word, 0x0006);
    printf("switch on Disabled: %lx \n", axs.status);
   }
   else if((axs.status & 0x002f) == 0x0021){
    EC_WRITE_U16(domain1_pd + axs.rx_pdo.control_word, 0x0007);
    printf("Ready to switch on: %lx \n", axs.status);
   }
   else if((axs.status & 0x002f) == 0x0023){
    EC_WRITE_U16(domain1_pd + axs.rx_pdo.control_word, 0x000f);
    EC_WRITE_S8(domain1_pd + axs.rx_pdo.op_mode, 8);
    printf("Switched on: %lx \n", axs.status);
   }
   else if((axs.status & 0x002f) == 0x0027){
    printf("OP Enabled: %lx | ", axs.status);
    if((axs.status & 0x4000) == 0x4000){
        printf("OP: IAP | ");
        printf("OPMD = %ld | ", axs.opm_d);
        printf("AP: %ld | ", axs.position);
        printf("Setpoint: %ld\n | ", axs.move_setpoint);
        EC_WRITE_S32(domain1_pd + axs.rx_pdo.position_setpoint,
axs.move_setpoint);
    }
   }
   else if((axs.status&0x0007) == 0x0007){
    printf("Quick Stop Active: %lx \n", axs.status);
   }
   else if((axs.status & 0x000f) == 0x000f){
    printf("Fault reaction active: %lx \n", axs.status);
   }
   else if((axs.status & 0x0008) == 0x0008){
    printf("Fault recieved: %lx \n", axs.status);
   }
}
/*****************************************************************************/

void cyclic_task()
{
    ecrt_master_receive(master);
    ecrt_domain_process(domain1);

    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_domain1_state();
        check_slave_config_states();
    }

    move_axis_to(pitch, desired_pos);

    // send process data
    ecrt_domain_queue(domain1);
    ecrt_master_send(master);
}

/****************************************************************************/

void stack_prefault(void)
{
    unsigned char dummy[MAX_SAFE_STACK];

    memset(dummy, 0, MAX_SAFE_STACK);
}

/****************************************************************************/

int main(int argc, char **argv)
{
    // move_setpoint = atoi(argv[1]);

    struct timespec wakeup_time;
    int ret = 0;

    read_timeout.tv_sec = 0;
    read_timeout.tv_usec = 100;

    client_struct_length = sizeof(client_addr);
    memset(setpoint, '\0', sizeof(setpoint));
    // Create UDP socket:
    socket_desc = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
    setsockopt(socket_desc, SOL_SOCKET, SO_RCVTIMEO, &read_timeout, sizeof
read_timeout);

    if(socket_desc < 0){
        printf("Error while creating socket\n");
        return -1;
    }

    server_addr.sin_family = AF_INET;
    server_addr.sin_port = htons(2000);
    server_addr.sin_addr.s_addr = inet_addr("127.0.0.1");

    if(bind(socket_desc, (struct sockaddr*)&server_addr,
sizeof(server_addr)) < 0){
        printf("Couldn't bind to the port\n");
        return -1;
    }

    master = ecrt_request_master(0);
    if (!master) {
        return -1;
    }

    domain1 = ecrt_master_create_domain(master);
    if (!domain1) {
        return -1;
    }

    if (!(sc_in = ecrt_master_slave_config(
                    master, drivePos, DRIVE1))) {
        fprintf(stderr, "Failed to get slave configuration.\n");
        return -1;
    }

    printf("Configuring PDOs...\n");
    if (ecrt_slave_config_pdos(sc_in, EC_END, slave_0_syncs)) {
        fprintf(stderr, "Failed to configure PDOs.\n");
        return -1;
    }

    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
        fprintf(stderr, "PDO entry registration failed!\n");
        return -1;
    }

    ecrt_slave_config_watchdog(sc_in, 0, 0);


    printf("Activating master...\n");
    if (ecrt_master_activate(master)) {
        return -1;
    }

    if (!(domain1_pd = ecrt_domain_data(domain1))) {
        return -1;
    }

    /* Set priority */

    struct sched_param param = {};
    param.sched_priority = sched_get_priority_max(SCHED_FIFO);

    printf("Using priority %i.", param.sched_priority);
    if (sched_setscheduler(0, SCHED_FIFO, &param) == -1) {
        perror("sched_setscheduler failed");
    }

    // ecrt_master_set_send_interval(master, 1000);

    /* Lock memory */

    if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
        fprintf(stderr, "Warning: Failed to lock memory: %s\n",
                strerror(errno));
    }

    stack_prefault();

    printf("Starting RT task with dt=%u ns.\n", PERIOD_NS);

    clock_gettime(CLOCK_MONOTONIC, &wakeup_time);
    wakeup_time.tv_sec += 1; /* start in future */
    wakeup_time.tv_nsec = 0;


    while (1) {

        ret = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,
                &wakeup_time, NULL);
        if (ret) {
            fprintf(stderr, "clock_nanosleep(): %s\n", strerror(ret));
            break;
        }

        if (recvfrom(socket_desc, setpoint, sizeof(setpoint), 0,
         (struct sockaddr*)&client_addr, &client_struct_length) < 0){
        // printf("Couldn't receive\n");
        }
        desired_pos = setpoint[0];
        cyclic_task();

        wakeup_time.tv_nsec += PERIOD_NS;
        while (wakeup_time.tv_nsec >= NSEC_PER_SEC) {
            wakeup_time.tv_nsec -= NSEC_PER_SEC;
            wakeup_time.tv_sec++;
        }
    }
    close(socket_desc);
    return ret;
}
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