06.07.2012 09:51 tarihinde, Ralf Roesch yazdı:
On Thu Jul 05 2012 17:33:47 GMT+0200 (CEST), Oguz Dilmac
<[email protected]> wrote:
Now I have another problems:
1. If I don't use DC, I can control the drive and IO devices at the
same time.
o.k, which action do you perform in your control cycle?
I can use "homing" and "profile position" without a problem. I can
rotate the motor to whereever I like.
If I use "Interpolated Position" or "Cyclic synchronous position" I can
hear "knock" sounds from the motor. I see that, my drive doesn't support
SM synchronisation.
I need to use those two modes. Therefore I need to use DC synchronisation.
If I configure DC with "ecrt_slave_config_dc", and if I dont have any
other slave, I can control the drive in "Cyclic synchronous position"
mode without a problem.
2. If I use DC (without configuring IO devices), I can't go to
operational at first initialisation. But If I re-run the config
sequence I can control the drive.
Which devices, drives do you use?
How do you bring up the devices in operational state?
What is done in your configuration sequence?
I have:
One ServoOne junior servo motor driver and it's motor. A demo case from LT-I
One EK1100 for the bus master
One EL2008 Output module from Beckhoff
One EL1008 Input module from Beckhoff
I use pretty much the examples for PDO configuration and domain
assignments.
I implement the program as a kernel module.
I have one periodic RT task and several non periodic RT tasks.
I also use one standart linux kernel task for ethercat master start,
stop, SDO download upload functions. Thanks to Graeme.
Here is a pseudo code of what I do. I'm writing the one domain version.
Two domain is almost the same:
In the Init module section:
{
...
Ethercat_init
{
rt_sem_init(master_sem)
master = ecrt_request_master(0)
ecrt_master_callbacks
domain = ecrt_master_create_domain(master)
domain_pd = ecrt_domain_data(domain)
}
...
create linux kernel task
create one periodic task (1ms interval)
create several non periodic tasks.
...
}
In one of the non periodic tasks which responsible from communication
with user interface:
{
...
Configure EK1100
{
// BeckhOFF_EK1100 vendor ID and product code is copied from
examples
sc = ecrt_master_slave_config(master, alias, position,
BeckhOFF_EK1100)
}
Configure EL2008
{
...
// BeckhOFF_EL2008 vendor ID and product code is copied from
examples
sc = ecrt_master_slave_config(master, alias, position,
BeckhOFF_EL2008)
// el2008_syncs struct definitions are gathered by ethercat
tool, "cstruct" command
ecrt_slave_config_pdos(SC, EC_END, el2008_syncs)
el2008_PdoOffset = ecrt_slave_config_reg_pdo_entry(sc, 0x7000,
1, domain, NULL)
}
Configure servoOne
{
...
// LTI_ServoOnevendor ID and product code is copied from
ethercat tool cstruct output
sc = ecrt_master_slave_config(master, alias, position,
LTI_ServoOne)
// so_syncsstruct definitions are gathered by ethercat tool,
"cstruct" command
// Then I got XML config file and updated to use "cyclic synch.
pos" mode.
ecrt_slave_config_pdos(SC, EC_END, so_syncs)
so_controlWOffset = ecrt_slave_config_reg_pdo_entry(sc, 0x6040,
0, domain, NULL)
so_refPosOffset = ecrt_slave_config_reg_pdo_entry(sc, 0x607A,
0, domain, NULL)
so_statusOffset = ecrt_slave_config_reg_pdo_entry(sc, 0x6041,
0, domain, NULL)
so_actPosOffset = ecrt_slave_config_reg_pdo_entry(sc, 0x6064,
0, domain, NULL)
// Configure DC usage for th*is drive*
*ecrt_slave_config_dc(sc, 0x0300, 1000000, 440000,0,0)
*
// Do many SDO configuration by ecrt_master_sdo_download()
// Use linux kernel task for SDO operations.
}
// Activate master
// Linux kernel thread does the job in parallel
activate_master_using_LinuxKernel_thread
// Parallel Periodic task sees master has been activated.
// Starts cyclic processing
Enable servoOne
{
// using PDO, write to the control register of the drive
// Reset Fault,
// Do state transition to "operation enabled"
}
}
=============================================================
In Parallel Periodic task:
{
if master activated
{
begining_of_cycle
{
sem_Wait
ecrt_master_receive(master)
ecrt_domain_processs(domain)
sem_Signal
check_domain_state
check_master_state
}
...
// Do some stuff
...
end_of_cycle
{
sem_wait
ecrt_master_application_time()
ecrt_sync_reference_clock()
ecrt_master_sync_slave_clock()
ecrt_domain_queue()
ecrt_master_send()
sem_signal
}
}
}
=======================================================
In parallel linux kernel task
{
...
activate_master_using_LinuxKernel_thread
{
ecrt_master_activate(master)
domain_pd = ecrt_domain_data(domain)
}
...
}
3. If I connect and configure the IO devices next to the drive, at
first I can set the outputs of the device. But due to the problem
above I can not control the device.
Which problem above exact you mean?
If I use DC (without configuring IO devices), I can't go to operational at
first initialisation. I need to re-init the same sequence again.
If I don't use DC I can go to operational at first initialisation.
4. If I re-run init sequence, this time my process domain information
some how corrupts. IO device outputs are no longer in the process data.
What is done in your init sequence?
There must be something wrong with it.
I wrote a pseudo code of the init sequence above. Infact I can send
some of the real code also. But I'm not sure if you have time.
Because I will cut the pieces from many different files, it will not be
easy to follow :(
5. Regarding to a post by Graeme, I introduced two domains. One for
writing, one for reading. The behaviour remained same.
http://lists.etherlab.org/pipermail/etherlab-users/2012/001737.html
We do the same here.
Do you know why we should seperate the domains? Howmany domains do you
use for all the system?
6. Then I seperated the domains one for IO device, one for motor
driver. Now my controller task suspends with Trap Handler: vector 14
message.
I have no idea what the Trap Handler 14 means, we are working on a
mipsel based motion controller.
I assume there must be something wrong with your pdo-sync-setup.
I get this error when I do some NULL pointer reference. But I couldn't
locate the problem.
If I comment out "ecrt_slave_config_dc" for the drive, I dont get trap
14 error.
What is it I'm missing? How should I use DC?
Each DC capable device should be setup correct (AssignActivate).
Other non DC capable devices can be used in same domain(s) where DC
devices locate but without synch to real time bus cycle.
General question:
Do you watch your warning and error messages (dmsg) ?
In case of error you will find a lot of helpful information from
etherlab master.
Yes I check the messages but I didn't notice anything special. I'll look
for it again.
I hope the pseudo code above can tell something to locate the problem.
regards
Ralf
Best regards,
Oguz.
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