Have a look for any errors in your dmesg log. Also, what do your pdoEntries, pdos, syncs structures look like? Whats your firmware revision? There are a couple of firmware revisions with different parameter requirements.
Being a stepper without an encoder, why do you need an actual position? Set the target position and assume that 5ms later it will be there. Regards, Graeme. -----Original Message----- From: etherlab-users [mailto:[email protected]] On Behalf Of Michal Rawlik Sent: Wednesday, 14 December 2016 9:28 p.m. To: [email protected] Subject: [etherlab-users] el7031 stepper drivers - input registers always zero in PDO, ok in SDO Hi, I am having a peculiar issue with the el7031 stepper motor drivers. I use them with the predefined PDO assignment "Positioning interface with info data": SM2 (output): 0x1601 0x1602 0x1606 SM3 (input): 0x1A01 0x1A03 0x1A06 I have no problem with the output PDO entries and can operate motors. However, when I read the input registers I always get 0 (in particular I care about (0x6020 0x01 1 "busy") and (0x6020 0x11 32 "actual position"). At the same time I can get the correct values of those registers via SDO. I do not use distributed clocks, have a cycle time of 5ms, run the program in userspace with the ethercat service, on openSUSE Leap 42.2, with generic ethernet driver. I had a look in TwinCAT3 and there it is the same - okay in SDO, always zeros in PDO. Sincerely, Michał _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
