I got problem, parameter value is not assigned then rtapi_app_main(...) function is called. The is the usual problem, I have to sleep and go to work tommorow.
On Sun, 10 Mar 2019 12:45:06 -0700 "John Dammeyer" <jo...@autoartisans.com> wrote: > > > > -----Original Message----- > > From: Nicklas Karlsson [mailto:nicklas.karlsso...@gmail.com] > > On Sun, 10 Mar 2019 09:45:02 -0700 > > "John Dammeyer" <jo...@autoartisans.com> wrote: > > > > > Not all devices allow changing the PDO Mapping entries. Some of them > > first require setting the unit into a programming mode. Then you write to > > those locations. Then send a save command. On power up the device fills > > them in itself. You need to use SDOs to change those locations so you will > > get back an RDO that shows success or failure. > > > Others don't let you change them at all. > > > > It will work as long as the mapping entries are possible to read. For > > meaningful names and it is also neccessary to read an eds file, otherwise > > there will be only numbers. > > Well yes and no. > For example let's take a look at an object dictionary for a RPDO: Here I > read each of the RPDO3 OD locations of Node 0x1A. > ###6###,19/03/10,10:55:34,r,0A,1402:00,05,(5) We have > 5 entries > ###6###,19/03/10,10:55:36,r,0A,1402:01,0000041A,( 1050) It > responds to 0x41A > ###6###,19/03/10,10:55:39,r,0A,1402:02,FF,(255) > Processed immediately > ###6###,19/03/10,10:55:41,r,0A,1402:03,0000,(0) No > inhibit time > ###6###,19/03/10,10:55:44,r,0A,1402:04,06090011,(101253137) Invalid read > error > ###6###,19/03/10,10:55:46,r,0A,1402:05,0000,(0) Event > timer is not used > ###6###,19/03/10,10:55:57,r,0A,1602:00,03,(3) The > RPDO will have three values > ###6###,19/03/10,10:56:08,r,0A,1602:01,60710010,( 1618018320) The first two > bytes go to 0x6071:00 > ###6###,19/03/10,10:56:11,r,0A,1602:02,60010008,( 1610678280) The next byte > goes to 0x6001:00 > ###6###,19/03/10,10:56:15,r,0A,1602:03,22720020,( 577896480) The last 4 > bytes go to 0x2272:00 > > The user manual for this battery charger lists 0x6001 as the charger enable. > Location 0x6071 is a 16 bit signed scaled value of Charger Set Current. > Location 2272 is a 32 bit signed scaled value of Charger Set Voltage. > > All of these locations are R/W and as long as the charger receives a > heartbeat from the CANopen Master. Rather than send three SDO messages with > corresponding RDO replies they are all packed into one PDO. > > These values in the PDO configuration are normally set by the factory > including the NodeID 0x1A. A USB dongle is plugged into it to configure > firmware upgrades, configuration and set the node ID. An EDS file isn't > required. But is really interesting when captured by the right kind of tool > such as one from port.de > > ; This EDS file was created by the CANopen Design Tool 2.2.47.0. > ; port GmbH Halle/Saale Germany, http://www.port.de, mailto:serv...@port.de > > This tool can query a CANopen device and create a complete map of what is > what. Of course you'd still have to know what is in 6071 and what the > scaling would be and the OD doesn't tell you that. > > Here's a command to the charger from my system master as reported in logging > mode. > Tx141A773010100700000 > Broken apart it's > Tx1 41A 7 7301 01 00700000 > > Tx1 means 11 bit ID transmitted from Channel 1 > 41A is the 11 bit ID for node 0x1A > There are 7 bytes > The first data value is 0x0173 and from above that's a scaled current setting > The second data value is 0x01 which means the charger is enabled. > The third data value is 0x00007000 which is a scaled voltage setting. > > This is all just done with a tool that reads from the CAN bus and formats the > output knowing that the messages are CANopen. Once you know how the stuff is > organized any CANopen module is like an open book. > > John Dammeyer > http://www.autoartisans.com > > > > > > > > Nicklas Karlsson > > > > > > _______________________________________________ > > Emc-users mailing list > > Emc-users@lists.sourceforge.net > > https://lists.sourceforge.net/lists/listinfo/emc-users > > > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
