Hi Jun,
You 're right I'm not familiar with CiA 402, and with ethercat, and with
linux :p
I found the sequence in manual, but the slave don't take the
READY_TO_SWITCH_ON by setting controlword = 0x06...
When i'm in OP mode i try to write 0x06 and this do nothing...
If i make the sequence step by step via USB no problem.
Thanks for your help.
Best Regards
Oliver Tempier
Le 20/11/2012 13:55, Jun Yuan a écrit :
Hi Olivier,
It seems you are not familiar with CiA 402, which your driver is
using. The ethercat master will not enable your driver automatically,
it is your job to do that.
Does your driver have some manuals for CoE CiA402? Search for the
instruction for the controlword 0x6040 and the statusword 0x6041 to
see how to turn your driver on. Implement it in your code according
to the CiA402 document.
Basically, the sequence to enable a CiA 402 driver would be like
following:
1) If the slave is in SWITCH_ON_DISABLED status, it needs to get
READY_TO_SWITCH_ON first by setting controlword = 0x06;
2) when your driver is READY_TO_SWITCH_ON, setting controlword to 0x07
to switch it on.
3) And when it has the status SWITCHED_ON, set 0x0F to the controlword
will enable Operation. After that your driver should be enabled.
Regards,
Jun
On Tue, Nov 20, 2012 at 12:21 PM, Olivier Tempier
<[email protected] <mailto:[email protected]>> wrote:
Hi Jun,
thanks for your answer.
>well, can you specify the meaning of "can't read/write RxPDOS"?
I change value with usb cable for example, i enable the driver and
the Control_World value change and i enter 500 in torque value.
The motor turn...
I try to read Control_World via ethercat. It always stay to 0x00
and i try to enter 0 in torque register via ethercat to stop the
motor and the value never change and stay to 500...
It's why i say that i can't read or write RxPDOS.
With TXPDOS, i have the same value with ethercat and via USB
interface.
And i don't understand why...
>So you know how to write a RXPDO. Everything look fine. I didn't
see you write any other RxPDOs, so why did you say you can't
read/write them? Where is exactly the problem?
Yes, i think i understand how to write or read RXPDO but my code
have no effect on the driver's register... I have no error but
nothing happen... :(
I hoped to have been more clear about my problem
Best regards,
Oliver Tempier
Le 20/11/2012 12:02, Jun Yuan a écrit :
Hi Olivier,
well, can you specify the meaning of "can't read/write RxPDOS"?
in your code, you read the EPOS3_0_Control_Word, which shows
0x00. It looks fine, as you didnot set the value to anything
else. So you CAN read RxPDO EPOS3_0_Control_Word. And by default
it is 0x00. What did you expect?
printk(KERN_INFO PFX
"RxPDOs*********************************************************************
\n");
status=EC_READ_U16(domain1_pd + EPOS3_0_Control_Word);
printk(KERN_INFO PFX "Robotics => Cyclic_task=>EPOS3_0 Control Word = %d
\n",status);
And you've tried to set EPOS3_0_Target_Torque to 0,
EC_WRITE_S16(domain1_pd + EPOS3_0_Target_Torque,0);
So you know how to write a RXPDO. Everything look fine. I didn't
see you write any other RxPDOs, so why did you say you can't
read/write them? Where is exactly the problem?
Best Regards,
Jun
On Tue, Nov 20, 2012 at 10:40 AM, Olivier Tempier
<[email protected] <mailto:[email protected]>> wrote:
Hello,
I try to use an maxon EPOS3 driver with igh ethercat library.
I wrote a test code in c, all seems ok. I don't see any
message error in debug file.
But i can't read/write RxPDOS and i don't see why... I have
no problem to read TXPDOs...
I join debug file and my source file.
I'm on this problem for a week, i'm starting to go crazy :p
Please, If someone could help me?
Regards
Oliver TEMPIER
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--
Jun Yuan
[Aussprache: Djün Üän]
Robotics Technology Leaders GmbH
Am Loferfeld 58, D-81249 München
Tel: +49 89 189 0465 24 <tel:%2B49%2089%20189%200465%2024>
Mobile: +49 176 2176 5238 <tel:%2B49%20176%202176%205238>
Fax: +49 89 189 0465 11 <tel:%2B49%2089%20189%200465%2011>
mailto: [email protected] <mailto:[email protected]>
Umlautregel in der chinesischen Lautschrift Pinyin: Nach den
Anlauten y, j, q, und x wird u als ü ausgesprochen, z.B. yu => ü,
ju => dschü, qu => tschü, xu => schü.
--
Jun Yuan
[Aussprache: Djün Üän]
Robotics Technology Leaders GmbH
Am Loferfeld 58, D-81249 München
Tel: +49 89 189 0465 24
Mobile: +49 176 2176 5238
Fax: +49 89 189 0465 11
mailto: [email protected] <mailto:[email protected]>
Umlautregel in der chinesischen Lautschrift Pinyin: Nach den Anlauten
y, j, q, und x wird u als ü ausgesprochen, z.B. yu => ü, ju => dschü,
qu => tschü, xu => schü.
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