Hi Philippe, The code that Elmo provided for me is based on EtherLab’s EtherCAT Master, which is the only EtherLab software component that I have been using. Once the EtherCAT Master has been installed (section 9 of the documentation pdf), I include the ecrt.h file in my application and then compile my program dynamically (section 7.2.1).
Josh From: [email protected] [mailto:[email protected]] Sent: Wednesday, November 07, 2012 3:29 PM To: Josh Rosenbaum; [email protected] Subject: RE: [etherlab-users] Pinpointing a CoE error Hi Josh, I didn't know that the cyclic synchronous torque mode wasn't working with previous firmware versions. That's exactly the mode that I need too. Concerning the code that Elmo provided to you, is it based on EtherLab's master? If not, how does it work? Thank you, Philippe ________________________________ De : Josh Rosenbaum [mailto:[email protected]] Envoyé : 7 novembre 2012 15:23 À : Hamelin, Philippe Objet : RE: [etherlab-users] Pinpointing a CoE error Hi Philippe, Without the firmware update, EtherLab seems to be working perfectly. I can talk to my motors using the command-line tool, and I have tested both of my motors in cyclic synchronous position mode (the downgraded firmware does not support any of the other cyclic modes. Since my application requires cyclic synchronous torque mode, I will eventually need to use the updated firmware.) I would suggest contacting Elmo and requesting a previous version of the Firmware since downgrading has been the only solution that has worked so far. I would also suggest requesting a test application from Elmo. They supplied me with the base code that I am currently using to communicate with my motors. Josh From: [email protected]<mailto:[email protected]> [mailto:[email protected]] Sent: Wednesday, November 07, 2012 1:07 PM To: Josh Rosenbaum; [email protected]<mailto:[email protected]> Subject: RE: [etherlab-users] Pinpointing a CoE error Hello Josh, I find it funny but sad at the same time as I was about to write an email similar to yours and I was hoping that I was the only one with this problem. Unfortunately, I see that we are more than one in the same situation. I also made a firmware update recently, but I have not had the chance to test the EtherCAT interface before the update. In your case, does the EtherCAT interface worked well with Etherlab's master before the update? ------------------------------------ Philippe Hamelin, ing., M. Ing Chercheur / Researcher T: 450-652-8499 x2198 F: 450-652-1316 Expertise robotique et civil Institut de recherche d'Hydro-Québec (IREQ) 1740, boul. Lionel-Boulet Varennes (QC) J3X 1S1, Canada ________________________________ De : [email protected]<mailto:[email protected]> [mailto:[email protected]] De la part de Josh Rosenbaum Envoyé : 7 novembre 2012 11:07 À : [email protected]<mailto:[email protected]> Objet : [etherlab-users] Pinpointing a CoE error Hello, I’m new to using EtherLab’s EtherCAT Master, and I’m currently using Version 1.5.1 on Ubuntu 10.4 (Kernel 2.6.32). I have several identical EtherCAT enabled Elmo Motion Control Whistle drives that use CANopen to communicate with the master. I recently updated the Whistle drives’ firmware, and an error has popped up that I’m unsure how to handle. Elmo claims this is not a problem on their side but is a problem with EtherLab. I’m struggling to pin down the problem’s root and I am looking to the EtherLab user base for guidance. When the EtherLab Master attempts to load the object dictionary, I get a timeout error while the master tries loading a non-existent SDO. I have confirmed with Elmo that SDO entry 0x2206:1 does not exist. This is the log’s output when I have two slave’s attached; slave zero has the firmware update and slave 1 does not. [30791.825201] EtherCAT DEBUG 0-1: Finished configuration. [30791.825204] EtherCAT DEBUG 0-0: Ready for requests. [30791.825207] EtherCAT DEBUG 0-1: Ready for requests. [30794.817007] EtherCAT DEBUG 0-0: Fetching SDO dictionary. [30794.819587] EtherCAT DEBUG 0-0: SDO list fragments left: 2 [30794.820576] EtherCAT DEBUG 0-0: SDO list fragments left: 1 [30796.204805] EtherCAT ERROR 0-0: Timeout while waiting for SDO entry 0x2206:1 description response. [30796.220971] EtherCAT DEBUG 0-1: Fetching SDO dictionary. [30796.223436] EtherCAT DEBUG 0-1: SDO list fragments left: 2 [30796.224438] EtherCAT DEBUG 0-1: SDO list fragments left: 1 [30796.988003] EtherCAT DEBUG 0-1: Fetched 171 SDOs and 460 entries. I get this error every time I give power to my servo drives. Additionally, if I try and upload an SDO using the command line tool, I get no response from the slave. EtherLab returns the error “Failed to determine SDO entry data type. Please specify –type” or “Data type mismatch. Expected XXX with YY bytes, but got 0 bytes” . I have never gotten an error with the older version of the firmware. If this is an EtherLab bug, does anyone have suggestions to help me isolate the bug or to circumvent the problem? If this is a bug in the firmware and beyond my scope, any suggestions to prove that EtherLab is working correctly and that the bug is with Elmo? Also, I am entertaining the idea of upgrading to the EtherLab development version, but I am awaiting the procurement of a new NIC with the necessary supported chipset. Thanks in advance, Josh
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