Remember to reply-all to mail the forum as well.
Line 85 has: #define Yaskawa_Sigma7 0x00000539, 0x02200301
This is different to my drive, so it may still be the Sigma 7 id causing a
mismatch, but it is the id being returned from the ethercat struct command.
Other than that, I've got no idea.
Graeme.
-----Original Message-----
From: Rahul Deshpande [mailto:[email protected]]
Sent: Tuesday, 15 August 2017 3:57 a.m.
To: Graeme Foot <[email protected]>
Subject: No CoE communication
Hi Graeme,
I understand I have been mailing a lot, my questions may seem repetitive.
The positive now is I was able to get to OP state by forcefully setting 1c12
and 1c13 to 0 (PDO assignment fro SM2 and SM3).
I am still not able to configure the PDOs though. What I have narrowed down to
is, somehow CoE communication just does not happen. I was going through the
etherlab forum and came across a post where they mentioned some sdo's had to be
set prior to configuring the PDOs. Is it that ?
Also, It would be great if I could just reach out to you on your phone if thats
not an issue. Could sort out my problems faster and not disturb you with
constant emails. Do let me know if thats an option.
Thank you so much.
Regards,
Rahul
--- Begin Message ---
Hi Graeme,
Sorry for the confusion, The sigma 5 was there with me only for a
month. They replaced it and gave me a sigma 7. So I had to change the
product code and vendor id.
I followed your instructions and upon running ethercat struct I got
the following values.
############################
/* Master 0, Slave 0
* Vendor ID: 0x00000539
* Product code: 0x02200301
* Revision number: 0x00080003
*/
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, 0, NULL, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{0xff}
############################
I didnt get any other value with respect to pdos. I replaced these
values in the sync of my application. Still I get the same errors of
pdo not assigned properly. I have attached the dmesg logs.
Do we really need to configure PDOs to get the drive into OP state ?.
Or is it absolutely necessary and that just configuring the PDOs will
get me to OP state ?.
In the previous mail, I had sent the application. Just wanted to
confirm if I have defined the domains in the correct way.
Also is the domain like a pipe in IPC ?. Does it just help in
establishing a link and then the PDOs are transferred between master
and slave ?
Thank you,
Rahul
On 8/10/17, Graeme Foot <[email protected]> wrote:
> You don't need any patches to get running.
>
> The patches I use are a CX2100 driver, some RTAI fixes (your using Xenomi),
> some patches to increase the performance of the SDO's and some distributed
> clock fixes.
> It's only the distributed clock fixes which you will need at some stage,
> best to get them from Gavin's patchset as he keeps them up to date with the
> latest release. Mine are a few years old now.
>
> Looking at your log it looks like it is completely failing to configure the
> PDO's. You also have a different drive to mine (Yours: 0x00000539,
> 0x02200301; mine: 0x00000539, 0x02200001) so the PDO configuration may not
> be the same. To get the PDO's for your drive, repower your system
> (including the drive) to reset it, then use the "ethercat struct" command.
> This will output the default PDO's required by the drive.
>
>
> What is the results for the following commands:
>
> ethercat struct (after repowering the system, before running your app)
>
> ethercat debug 1
> <run your app>
> dmesg
>
>
>
> Regards,
> Graeme.
>
>
>
> -----Original Message-----
> From: Rahul Deshpande [mailto:[email protected]]
> Sent: Friday, 11 August 2017 3:20 a.m.
> To: Graeme Foot <[email protected]>
> Subject: Re: Yaskawa sigma 5 application
>
> Hi Graeme,
>
> Ignore the previous main.c. The one attached in this mail is what I am using
> to communicate with the drive.
>
> On 8/10/17, Rahul Deshpande <[email protected]> wrote:
>> Hi Graeme,
>>
>> I noticed you mentioned that I could be needing patches in order to
>> get yaskawa work with the master. Do we need all the patches on your
>> name or just a selective few ?.
>>
>> At this point I am trying to get to OP state but even after changing
>> the application I cannot surpass it. I have attached the new
>> application that I wrote and also the logs. These logs are obtained
>> after running the 'ethercat debug 1' command before running the
>> application. It is throwing an error for each domain that I have
>> defined.
>>
>> Looking forward to your reply.
>>
>> Thank you,
>> Rahul
>>
>
Debug1
Description: Debug1
--- End Message ---
--- Begin Message ---
Hi Graeme,
I checked the PDO mappings for sigma 7 and sigma 5. They are exactly
the same. The problem may not be with the pdo mappings.
Also we got an error of 'No default mapping found'. Does the master
automatically upload pdo mappings from the slave ?
Thank you,
Rahul
On 8/11/17, Rahul Deshpande <[email protected]> wrote:
> Hi Graeme,
>
> Sorry for the confusion, The sigma 5 was there with me only for a
> month. They replaced it and gave me a sigma 7. So I had to change the
> product code and vendor id.
>
> I followed your instructions and upon running ethercat struct I got
> the following values.
> ############################
>
> /* Master 0, Slave 0
>
> * Vendor ID: 0x00000539
>
> * Product code: 0x02200301
>
> * Revision number: 0x00080003
>
> */
>
>
>
> 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, 0, NULL, EC_WD_ENABLE},
>
> {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
>
> {0xff}
>
>
>
> ############################
>
> I didnt get any other value with respect to pdos. I replaced these
> values in the sync of my application. Still I get the same errors of
> pdo not assigned properly. I have attached the dmesg logs.
>
> Do we really need to configure PDOs to get the drive into OP state ?.
> Or is it absolutely necessary and that just configuring the PDOs will
> get me to OP state ?.
>
> In the previous mail, I had sent the application. Just wanted to
> confirm if I have defined the domains in the correct way.
>
> Also is the domain like a pipe in IPC ?. Does it just help in
> establishing a link and then the PDOs are transferred between master
> and slave ?
>
> Thank you,
> Rahul
>
> On 8/10/17, Graeme Foot <[email protected]> wrote:
>> You don't need any patches to get running.
>>
>> The patches I use are a CX2100 driver, some RTAI fixes (your using
>> Xenomi),
>> some patches to increase the performance of the SDO's and some
>> distributed
>> clock fixes.
>> It's only the distributed clock fixes which you will need at some stage,
>> best to get them from Gavin's patchset as he keeps them up to date with
>> the
>> latest release. Mine are a few years old now.
>>
>> Looking at your log it looks like it is completely failing to configure
>> the
>> PDO's. You also have a different drive to mine (Yours: 0x00000539,
>> 0x02200301; mine: 0x00000539, 0x02200001) so the PDO configuration may
>> not
>> be the same. To get the PDO's for your drive, repower your system
>> (including the drive) to reset it, then use the "ethercat struct"
>> command.
>> This will output the default PDO's required by the drive.
>>
>>
>> What is the results for the following commands:
>>
>> ethercat struct (after repowering the system, before running your
>> app)
>>
>> ethercat debug 1
>> <run your app>
>> dmesg
>>
>>
>>
>> Regards,
>> Graeme.
>>
>>
>>
>> -----Original Message-----
>> From: Rahul Deshpande [mailto:[email protected]]
>> Sent: Friday, 11 August 2017 3:20 a.m.
>> To: Graeme Foot <[email protected]>
>> Subject: Re: Yaskawa sigma 5 application
>>
>> Hi Graeme,
>>
>> Ignore the previous main.c. The one attached in this mail is what I am
>> using
>> to communicate with the drive.
>>
>> On 8/10/17, Rahul Deshpande <[email protected]> wrote:
>>> Hi Graeme,
>>>
>>> I noticed you mentioned that I could be needing patches in order to
>>> get yaskawa work with the master. Do we need all the patches on your
>>> name or just a selective few ?.
>>>
>>> At this point I am trying to get to OP state but even after changing
>>> the application I cannot surpass it. I have attached the new
>>> application that I wrote and also the logs. These logs are obtained
>>> after running the 'ethercat debug 1' command before running the
>>> application. It is throwing an error for each domain that I have
>>> defined.
>>>
>>> Looking forward to your reply.
>>>
>>> Thank you,
>>> Rahul
>>>
>>
>
--- End Message ---
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