Dear Graeme, Thank you for your answer!
All my problems were caused by a combination of two facts. First, I accidentally wrote to the domain data address space before reading it out, overwriting some of the data with zeros. Secondly, I did not realise that when writing single bits I should read a byte from the domain data, change only one single bit and then write it again. Now it works perfectly! All the best, Michał > On 14 Dec 2016, at 23:07, Graeme Foot <[email protected]> wrote: > > 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
