Dear EtherLab Users,
I installed the IgH EtherCAT master, and to educate myself how to implement the
communication, I set up a small network comprising of IgH master and one
Technosoft Motion iPOS4808 drive.
The ./ethercat slaves command detects it.
The ./ethercat cstruct gives me the following configuration:
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x6040, 0x00, 16},
{0x607a, 0x00, 32},
{0x6041, 0x00, 16},
{0x6064, 0x00, 32},
{0x6077, 0x00, 16},
{0x60f4, 0x00, 32},
{0x60fd, 0x00, 32},
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1600, 2, slave_0_pdo_entries + 0},
{0x1a00, 3, slave_0_pdo_entries + 2},
{0x1a01, 2, slave_0_pdo_entries + 5},
};
ec_sync_info_t slave_0_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 2, slave_0_pdos + 1, EC_WD_DISABLE},
{0xff}
};
Now I want to use C++ functions, to change the value outputted at 0x1a00 x02 to
the object 0x2058 x00 with size 16 bit.
Hence, based on the cstruct file, as well as
~/ethercat-1.5.2/example/user/main.c , I write the following code (spread over
main.h and main.cpp) to achieve this.
#include "auxfun.h"
// Application parameters
#define FREQUENCY 100
#define PRIORITY 1
// Optional features
#define CONFIGURE_PDOS 1
#define SDO_ACCESS 0
// EtherCAT
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};
static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state = {};
static ec_slave_config_t *sc_iPOS0 = NULL;
static ec_slave_config_state_t sc_iPOS0_state = {};
// Timer
static unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;
/****************************************************************************/
// process data
static uint8_t *domain1_pd = NULL;
#define AxisBotPos 0, 0 //Bottom frame iPOS Alias
#define IPOS4808BX_CAT 0x000001a3, 0x019f418d // Vendor ID, Product Code
const static ec_pdo_entry_reg_t domain1_regs[] = {
{AxisBotPos, IPOS4808BX_CAT, 0x6060, 0x00, &off_iPOS0_Rx},
{AxisBotPos, IPOS4808BX_CAT, 0x2058, 0x00, &off_iPOS0_Tx},
{}
};
// Analog in --------------------------
ec_pdo_entry_info_t iPOS0_pdo_entries[] = {
{0x6040, 0x00, 16},
{0x6060, 0x00, 8},
{0x6041, 0x00, 16},
{0x2058, 0x00, 16},
{0x6077, 0x00, 16},
{0x60f4, 0x00, 32},
{0x60fd, 0x00, 32},
};
ec_pdo_info_t iPOS0_pdo[] = {
{0x1600, 2, iPOS0_pdo_entries + 0},
{0x1a00, 3, iPOS0_pdo_entries + 2},
{0x1a01, 2, iPOS0_pdo_entries + 5},
};
ec_sync_info_t iPOS0_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, iPOS0_pdo + 0, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 2, iPOS0_pdo + 1, EC_WD_DISABLE},
{0xff}
};
#include "main.h"
/****************************************************************************/
int main(int argc, char **argv)
{
??
struct itimerval tv;
master = ecrt_request_master(0);
if (!master)
return -1;
?
domain1 = ecrt_master_create_domain(master);
if (!domain1)
return -1;
if (!(sc_iPOS0 = ecrt_master_slave_config(
master, AxisBotPos, IPOS4808BX_CAT))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_iPOS0, 4, iPOS0_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
cout << "Done" << endl;
return 0;
}?
I run the code above. It executes with no problem.
Now, I checked, using:
sudo ethercat upload -a 0 0x1a00 01
whether the introduced mapping modification worked. Unfortunately it seems that
it is not the case and I get the same variable that was in ./ethercat cstruct
at that position.
Then I tried to change the variable manually using ./ethercat download -a 0
0x1a00 01 0x20580010. This worked, at least in the console (confirmed by
./ethercat upload). However, cstruct still outputs previous values. I also
tried the same procedure with other PDO variables to the same effect, my C++
code changes nothing in the mapping.
If anyone of you could look into the code and tell me whether what I am doing
is correct (or wrong), I would be exteremely grateful. I mostly do not know
where even to start debugging right now.
Thank you a lot in advance.
Yours faithfully,
Jakub Sikorski
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