Hey Andreas,
Thanks for replying. I have used the Denali XCR-E motor drive by Novanta.
The same drive always works in my system and never requires a power cycle
for it to work. So I'm assuming this is not the case here. It is not
written in the manuals either, as far as I have seen.
Would you like some data to be able to help better?
Here is the code:
const static ec_pdo_entry_reg_t domain1_regs[] = {
{drivePos, DRIVE1, 0x6040, 0x00, &pitch.rx_pdo.control_word},
//RXPDO
{drivePos, DRIVE1, 0x607a, 0x00, &pitch.rx_pdo.position_setpoint},
{drivePos, DRIVE1, 0x60ff, 0x00, &pitch.rx_pdo.velocity_setpoint},
{drivePos, DRIVE1, 0x6060, 0x00, &pitch.rx_pdo.op_mode},
//TXPDO
{drivePos, DRIVE1, 0x6041, 0x00, &pitch.tx_pdo.status_word},
{drivePos, DRIVE1, 0x6064, 0x00, &pitch.tx_pdo.actual_position},
{drivePos, DRIVE1, 0x606c, 0x00, &pitch.tx_pdo.actual_velocity},
{drivePos, DRIVE1, 0x6061, 0x00, &pitch.tx_pdo.op_mode_display},
{}
};
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x6040, 0x00, 16}, /* Control Word */
{0x607a, 0x00, 32}, /* Position set-point */
{0x60ff, 0x00, 32}, /* Velocity set-point */
{0x6060, 0x00, 8}, /* Operation mode */
{0x6041, 0x00, 16}, /* Status Word */
{0x6064, 0x00, 32}, /* Actual position */
{0x606c, 0x00, 32}, /* Actual velocity */
{0x6061, 0x00, 8}, /*Mode of op display*/
};
static ec_pdo_info_t slave_0_pdos[] =
{
{0x1600, 4, slave_0_pdo_entries + 0},
{0x1a00, 4, slave_0_pdo_entries + 4},
};
/* Initialise the sync manager */
ec_sync_info_t slave_0_syncs[] = {
{2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0},
{3, EC_DIR_INPUT, 1, slave_0_pdos + 1},
{0xff}
};
/*****************************************************************************/
void check_domain1_state(void) /*Check the domain state and print the
working counter */
{
ec_domain_state_t ds;
ecrt_domain_state(domain1, &ds);
if (ds.working_counter != domain1_state.working_counter) {
printf("Domain1: WC %u.\n", ds.working_counter);
}
if (ds.wc_state != domain1_state.wc_state) {
printf("Domain1: State %u.\n", ds.wc_state);
}
domain1_state = ds;
}
/*****************************************************************************/
void check_master_state(void) /* check the master state and print */
{
ec_master_state_t ms;
ecrt_master_state(master, &ms);
if (ms.slaves_responding != master_state.slaves_responding) {
printf("%u slave(s).\n", ms.slaves_responding);
}
if (ms.al_states != master_state.al_states) {
printf("AL states: 0x%02X.\n", ms.al_states);
}
if (ms.link_up != master_state.link_up) {
printf("Link is %s.\n", ms.link_up ? "up" : "down");
}
master_state = ms;
}
/*****************************************************************************/
void check_slave_config_states(void) /* */
{
ec_slave_config_state_t s;
ecrt_slave_config_state(sc_in, &s);
if (s.al_state != sc_in_state.al_state) {
printf("AnaIn: State 0x%02X.\n", s.al_state);
}
if (s.online != sc_in_state.online) {
printf("AnaIn: %s.\n", s.online ? "online" : "offline");
}
if (s.operational != sc_in_state.operational) {
printf("AnaIn: %soperational.\n", s.operational ? "" : "Not ");
}
sc_in_state = s;
}
/************************************************************************************************************/
void move_axis_to(Axis axs, long pos){
axs.move_setpoint = pos;
axs.status =EC_READ_U16(domain1_pd + axs.tx_pdo.status_word);
axs.position = EC_READ_S32(domain1_pd + axs.tx_pdo.actual_position);
axs.opm_d = EC_READ_S8(domain1_pd + axs.tx_pdo.op_mode_display);
if((axs.status & 0x0040) == 0x0040){
EC_WRITE_U16(domain1_pd + axs.rx_pdo.control_word, 0x0006);
printf("switch on Disabled: %lx \n", axs.status);
}
else if((axs.status & 0x002f) == 0x0021){
EC_WRITE_U16(domain1_pd + axs.rx_pdo.control_word, 0x0007);
printf("Ready to switch on: %lx \n", axs.status);
}
else if((axs.status & 0x002f) == 0x0023){
EC_WRITE_U16(domain1_pd + axs.rx_pdo.control_word, 0x000f);
EC_WRITE_S8(domain1_pd + axs.rx_pdo.op_mode, 8);
printf("Switched on: %lx \n", axs.status);
}
else if((axs.status & 0x002f) == 0x0027){
printf("OP Enabled: %lx | ", axs.status);
if((axs.status & 0x4000) == 0x4000){
printf("OP: IAP | ");
printf("OPMD = %ld | ", axs.opm_d);
printf("AP: %ld | ", axs.position);
printf("Setpoint: %ld\n | ", axs.move_setpoint);
EC_WRITE_S32(domain1_pd + axs.rx_pdo.position_setpoint,
axs.move_setpoint);
}
}
else if((axs.status&0x0007) == 0x0007){
printf("Quick Stop Active: %lx \n", axs.status);
}
else if((axs.status & 0x000f) == 0x000f){
printf("Fault reaction active: %lx \n", axs.status);
}
else if((axs.status & 0x0008) == 0x0008){
printf("Fault recieved: %lx \n", axs.status);
}
}
/*****************************************************************************/
void cyclic_task()
{
ecrt_master_receive(master);
ecrt_domain_process(domain1);
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY;
// calculate new process data
blink = !blink;
// check for master state (optional)
check_master_state();
// check_domain1_state();
check_slave_config_states();
}
move_axis_to(pitch, desired_pos);
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
/****************************************************************************/
void stack_prefault(void)
{
unsigned char dummy[MAX_SAFE_STACK];
memset(dummy, 0, MAX_SAFE_STACK);
}
/****************************************************************************/
int main(int argc, char **argv)
{
// move_setpoint = atoi(argv[1]);
struct timespec wakeup_time;
int ret = 0;
read_timeout.tv_sec = 0;
read_timeout.tv_usec = 100;
client_struct_length = sizeof(client_addr);
memset(setpoint, '\0', sizeof(setpoint));
// Create UDP socket:
socket_desc = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
setsockopt(socket_desc, SOL_SOCKET, SO_RCVTIMEO, &read_timeout, sizeof
read_timeout);
if(socket_desc < 0){
printf("Error while creating socket\n");
return -1;
}
server_addr.sin_family = AF_INET;
server_addr.sin_port = htons(2000);
server_addr.sin_addr.s_addr = inet_addr("127.0.0.1");
if(bind(socket_desc, (struct sockaddr*)&server_addr,
sizeof(server_addr)) < 0){
printf("Couldn't bind to the port\n");
return -1;
}
master = ecrt_request_master(0);
if (!master) {
return -1;
}
domain1 = ecrt_master_create_domain(master);
if (!domain1) {
return -1;
}
if (!(sc_in = ecrt_master_slave_config(
master, drivePos, DRIVE1))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_in, EC_END, slave_0_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
ecrt_slave_config_watchdog(sc_in, 0, 0);
printf("Activating master...\n");
if (ecrt_master_activate(master)) {
return -1;
}
if (!(domain1_pd = ecrt_domain_data(domain1))) {
return -1;
}
/* Set priority */
struct sched_param param = {};
param.sched_priority = sched_get_priority_max(SCHED_FIFO);
printf("Using priority %i.", param.sched_priority);
if (sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) {
perror("sched_setscheduler failed");
}
// ecrt_master_set_send_interval(master, 1000);
/* Lock memory */
if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
fprintf(stderr, "Warning: Failed to lock memory: %s\n",
strerror(errno));
}
stack_prefault();
printf("Starting RT task with dt=%u ns.\n", PERIOD_NS);
clock_gettime(CLOCK_MONOTONIC, &wakeup_time);
wakeup_time.tv_sec += 1; /* start in future */
wakeup_time.tv_nsec = 0;
while (1) {
ret = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,
&wakeup_time, NULL);
if (ret) {
fprintf(stderr, "clock_nanosleep(): %s\n", strerror(ret));
break;
}
if (recvfrom(socket_desc, setpoint, sizeof(setpoint), 0,
(struct sockaddr*)&client_addr, &client_struct_length) < 0){
// printf("Couldn't receive\n");
}
desired_pos = setpoint[0];
cyclic_task();
wakeup_time.tv_nsec += PERIOD_NS;
while (wakeup_time.tv_nsec >= NSEC_PER_SEC) {
wakeup_time.tv_nsec -= NSEC_PER_SEC;
wakeup_time.tv_sec++;
}
}
close(socket_desc);
return ret;
}
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