THANKS !
2010/12/2 Henry Bausley <[email protected]>
> Yes use 2 arrays and call ecrt_domain_reg_pdo_entry_list twice. The first
> call of ecrt_domain_reg_pdo_entry_list must be for the output domain. If
> you call ecrt_domain_reg_pdo_entry_list with the input domain registers
> first it won't work.
>
>
I tried, and seem to go a little ahead, that is, I can read
status_word(0x6041).
Now, the problems are:
Wait YASKAWA goes to OP mode. OK.
Set mode_of_operation(0x6060) to 1 (profile position mode).
For comformation, read mode_of_opertioan, and get 1.
Wait status_word to become 0x21 (ready to switch on), but it stays at
0x00.
Set control_word(0x6040h) 0x0f(switch on and enable operation).
Read status_word(0x601) and get 0x0f (fault reaction active).
And motor is not energized.
Henry, could you operate YASUKAWA sigma 5 ?
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