Hi,In a previous message I had a problem with a Kollmorgen AKD drive and the fixed mapping.
http://lists.etherlab.org/pipermail/etherlab-users/2012/001682.html
It is not really solved yet, but instead I have found how to use the free PDO mapping of Kollmorgen AKD drive with etherlab.
Therefore I post here an example to help people who start using this device.Firstly, use 'ethercat download' to set the right SDO sequence to define the wanted PDO mapping on the AKD. (use dmesg to see the SDO errors if any)
For example see attachment akd_free_pdo.shSecondly, when you have find the right SDO sequence, use the output of 'ethercat cstruct' to write your C program and rewrite your SDO sequence with ecrt_slave_config_sdo{8,16,32} calls, just before configuring the PDOs
For example see attachement akd_free_pdo.c Regards --- sebastien
akd_free_pdo.sh
Description: application/shellscript
/*****************************************************************************
* Mini example of PDO mapping with drive AKD Kollmorgen
* The program maps some PDOs to monitor actual values of the drive
*
* Date: 2012-04-12 , Author: Sebastien BLANCHET
*
* Based on a previous example from IgH EtherCAT Master
****************************************************************************/
#include <errno.h>
#include <stdio.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
#include "ecrt.h"
/****************************************************************************/
// Application parameters
#define FREQUENCY 100
/* EtherCAT */
static ec_master_t *master = NULL;
static ec_domain_t *domain1 = NULL;
static uint8_t *domain1_pd = NULL; /* process data */
static ec_slave_config_t *sc_akd = NULL;
#define AkdSlavePos 11,0
#define Kollmorgen_AKD 0x0000006a, 0x00414b44
/* Offsets for PDO entries */
static unsigned int off_akd_ctrlword;
static unsigned int off_akd_status;
static unsigned int off_akd_analog_in;
static unsigned int off_akd_digital_in;
static unsigned int off_akd_act_velocity;
static unsigned int off_akd_act_pos;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{AkdSlavePos, Kollmorgen_AKD, 0x6040, 0, &off_akd_ctrlword},
{AkdSlavePos, Kollmorgen_AKD, 0x6041, 0, &off_akd_status},
{AkdSlavePos, Kollmorgen_AKD, 0x3470, 4, &off_akd_analog_in},
{AkdSlavePos, Kollmorgen_AKD, 0x60FD, 0, &off_akd_digital_in},
{AkdSlavePos, Kollmorgen_AKD, 0x606C, 0, &off_akd_act_velocity},
{AkdSlavePos, Kollmorgen_AKD, 0x6063, 0, &off_akd_act_pos},
{}
};
/* AKD */
ec_pdo_entry_info_t akd_pdo_entries[] = {
/* RxPdo 0x1600 */
{0x6040, 0x00, 16}, /* ctrl word */
{0x60c1, 0x01, 32}, /* interpolation data record */
/* TxPDO 0x1a00 */
{0x6041, 0x00, 16}, /* status word */
{0x3470, 0x04, 16}, /* analog input */
{0x60fd, 0x00, 32}, /* digital input */
/* TxPDO 0x1a01 */
{0x606C, 0x00, 32}, /* actual velocity, in rpm */
{0x6063, 0x00, 32}, /* actual position */
};
ec_pdo_info_t akd_pdos[] = {
{0x1600, 2, akd_pdo_entries + 0},
{0x1a00, 3, akd_pdo_entries + 2},
{0x1a01, 2, akd_pdo_entries + 5},
};
ec_sync_info_t akd_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, akd_pdos + 0, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 2, akd_pdos + 1, EC_WD_DISABLE},
{0xff}
};
/****************************************************************************/
void cyclic_task()
{
static unsigned int counter = 0;
/* receive process data */
ecrt_master_receive(master);
ecrt_domain_process(domain1);
if (counter) {
counter--;
} else { /* do this at 1 Hz */
counter = FREQUENCY;
/* read process data */
printf("AKD act_velocity = %8.3f rpm, act_pos = %d , %10.3f\n",
EC_READ_S32(domain1_pd + off_akd_act_velocity)/1000.0,
EC_READ_S32(domain1_pd + off_akd_act_pos),
EC_READ_S32(domain1_pd + off_akd_act_pos)/16.0
);
printf( "AKD analog in = %x %3.3f V, DigitalIn = %x\n",
EC_READ_S16(domain1_pd + off_akd_analog_in),
EC_READ_S16(domain1_pd + off_akd_analog_in)*5.0/0x3300,
EC_READ_U32(domain1_pd + off_akd_digital_in)
);
}
/* send process data */
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
/****************************************************************************/
int main(int argc, char **argv)
{
master = ecrt_request_master(0);
if (!master)
return -1;
domain1 = ecrt_master_create_domain(master);
if (!domain1)
return -1;
if (!(sc_akd = ecrt_master_slave_config(
master, AkdSlavePos, Kollmorgen_AKD))) {
fprintf(stderr, "Failed to get slave configuration for AKD.\n");
return -1;
}
/* Configure AKD free PDO */
printf("Configuring AKD with free PDO...\n");
/* Clear RxPdo */
ecrt_slave_config_sdo8( sc_akd, 0x1C12, 0, 0 ); /* clear sm pdo 0x1c12 */
ecrt_slave_config_sdo8( sc_akd, 0x1600, 0, 0 ); /* clear RxPdo 0x1600 */
ecrt_slave_config_sdo8( sc_akd, 0x1601, 0, 0 ); /* clear RxPdo 0x1601 */
ecrt_slave_config_sdo8( sc_akd, 0x1602, 0, 0 ); /* clear RxPdo 0x1602 */
ecrt_slave_config_sdo8( sc_akd, 0x1603, 0, 0 ); /* clear RxPdo 0x1603 */
/* Define RxPdo */
ecrt_slave_config_sdo32( sc_akd, 0x1600, 1, 0x60400010 ); /* 0x6040:0/16bits, control word */
ecrt_slave_config_sdo32( sc_akd, 0x1600, 2, 0x60C10120 ); /* 0x60C1:1/32bits */
ecrt_slave_config_sdo8( sc_akd, 0x1600, 0, 2 ); /* set number of PDO entries for 0x1600 */
ecrt_slave_config_sdo16( sc_akd, 0x1C12, 1, 0x1600 ); /* list all RxPdo in 0x1C12:1-4 */
ecrt_slave_config_sdo8( sc_akd, 0x1C12, 0, 1 ); /* set number of RxPDO */
/* Clear TxPdo */
ecrt_slave_config_sdo8( sc_akd, 0x1C13, 0, 0 ); /* clear sm pdo 0x1c13 */
ecrt_slave_config_sdo8( sc_akd, 0x1A00, 0, 0 ); /* clear TxPdo 0x1A00 */
ecrt_slave_config_sdo8( sc_akd, 0x1A01, 0, 0 ); /* clear TxPdo 0x1A01 */
ecrt_slave_config_sdo8( sc_akd, 0x1A02, 0, 0 ); /* clear TxPdo 0x1A02 */
ecrt_slave_config_sdo8( sc_akd, 0x1A03, 0, 0 ); /* clear TxPdo 0x1A03 */
/* Define TxPdo */
ecrt_slave_config_sdo32( sc_akd, 0x1A00, 1, 0x60410010 ); /* 0x6041:0/16bits, status word */
ecrt_slave_config_sdo32( sc_akd, 0x1A00, 2, 0x34700410 ); /* 0x3470:4/16bits, analog input */
ecrt_slave_config_sdo32( sc_akd, 0x1A00, 3, 0x60FD0020 ); /* 0x60FD:0/32bits, digital inputs */
ecrt_slave_config_sdo8( sc_akd, 0x1A00, 0, 3 ); /* set number of PDO entries for 0x1A00 */
ecrt_slave_config_sdo32( sc_akd, 0x1A01, 1, 0x606C0020 ); /* 0x606c:0/32bits, act velocity */
ecrt_slave_config_sdo32( sc_akd, 0x1A01, 2, 0x60630020 ); /* 0x6063:0/32bits, act position */
ecrt_slave_config_sdo8( sc_akd, 0x1A01, 0, 2 ); /* set number of PDO entries for 0x1A01 */
ecrt_slave_config_sdo16( sc_akd, 0x1C13, 1, 0x1A00 ); /* list all TxPdo in 0x1C13:1-4 */
ecrt_slave_config_sdo16( sc_akd, 0x1C13, 2, 0x1A01 ); /* list all TxPdo in 0x1C13:1-4 */
ecrt_slave_config_sdo8( sc_akd, 0x1C13, 0, 2 ); /* set number of TxPDO */
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_akd, EC_END, akd_syncs)) {
fprintf(stderr, "Failed to configure AKD PDOs.\n");
return -1;
}
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n" );
return -1;
}
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
if (!(domain1_pd = ecrt_domain_data(domain1))) {
return -1;
}
printf("Started.\n");
while (1) {
usleep( 1000000 / FREQUENCY );
cyclic_task();
}
return 0;
}
/****************************************************************************/
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