On Thu, May 28, 2009 at 7:54 PM, Florian Pose <[email protected]> wrote: > On Thu, May 28, 2009 at 02:52:26PM +0200, Julian Stoev wrote: > >> Successfully registered application "t1" with RT-AppCore. >> EtherCAT WARNING: 1 datagram UNMATCHED! >> EtherCAT WARNING: Slave 1 does not support changing the PDO mapping! >> EtherCAT WARNING: Failed to configure mapping of PDO 0x1600. >> EtherCAT WARNING: Slave 1 does not support changing the PDO mapping! >> EtherCAT WARNING: Failed to configure mapping of PDO 0x1601. >> EtherCAT: Domain 0: Working counter changed to 1/1. >> EtherCAT: Slave states: PREOP, OP. >> >> Note the warning. Also I try to set a sampling rate 100[Hz]. I wonder >> what may be the sampling rate of my application in reality. > > You can watch the period via the variable /your-model/Taskinfo/0/Period.
Thanks! But this PDO warnings... depending on the simulink diagram, sometimes they are not present, sometimes they are present. What may be the reason for them? On the positive side, I can now output constant voltages to the I/O as I want and they are confirmed by the multimeter correctly. Another issue: during the compilation of the kernel module on the target machine I get these: WARNING: "ecrt_master_receive" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "rt_sem_wait" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_master_create_domain" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_version_magic" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_master_send" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "start_rt_app" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_domain_queue" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_slave_config_sdo16" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_slave_config_sdo32" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "rt_sem_init" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_slave_config_reg_pdo_entry" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_domain_process" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_domain_state" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_master_callbacks" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_master_state" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "rt_sem_signal" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_master_slave_config" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_slave_config_pdos" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_domain_external_memory" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "rt_var_exit" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_domain_size" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "stop_rt_app" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_master_activate" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_release_master" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_request_master" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! WARNING: "ecrt_slave_config_sdo8" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined! Is this normal? We will have to program quite a complex robotics application and I must be sure I understand everything well. -- Julian Stoev, PhD. Control Researcher _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
