Dear Graeme, Thanks for your several times suggestions. I do start try my yaskawa servo out by modificaton of example/mini.c as attached. I create two domains by refer to http://lists.etherlab.org/pipermail/etherlab-users/2012/001737.html <http://lists.etherlab.org/pipermail/etherlab-users/2012/001737.html> .
[ 4543.012637] ec_mini: module verification failed: signature and/or
required key missing - tainting kernel
[ 4543.013087] ec_mini: Starting...
[ 4543.013095] EtherCAT: Requesting master 0...
[ 4543.013100] EtherCAT DEBUG 0: IDLE -> OPERATION.
[ 4543.013104] EtherCAT: Successfully requested master 0.
[ 4543.013109] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xe195e000,
send_cb = 0xf8122030, receive_cb = 0xf8122000, cb_data = 0xe195e000)
[ 4543.013112] ec_mini: Registering domain...
[ 4543.013115] EtherCAT DEBUG 0: ecrt_master_create_domain(master =
0xe195e000)
[ 4543.013119] EtherCAT DEBUG 0: Created domain 0.
[ 4543.013121] EtherCAT DEBUG 0: ecrt_master_create_domain(master =
0xe195e000)
[ 4543.013124] EtherCAT DEBUG 0: Created domain 1.
[ 4543.013128] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013131] EtherCAT DEBUG 0: Creating slave configuration for 0:1,
0x00000539/0x02200001.
[ 4543.013136] EtherCAT DEBUG 0 0:1: Failed to find slave for configuration.
[ 4543.013139] ec_mini: Configuring PDOs...
[ 4543.013143] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdos(sc =
0xc838fc00, n_syncs = 4294967295, syncs = 0xf8124000)
[ 4543.013147] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc =
0xc838fc00, sync_index = 0, dir = 1, watchdog_mode = 2)
[ 4543.013151] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc =
0xc838fc00, sync_index = 1, dir = 2, watchdog_mode = 2)
[ 4543.013154] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc =
0xc838fc00, sync_index = 2, dir = 1, watchdog_mode = 1)
[ 4543.013157] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc
= 0xc838fc00, sync_index = 2)
[ 4543.013161] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc =
0xc838fc00, sync_index = 2, pdo_index = 0x1600)
[ 4543.013166] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc
= 0xc838fc00, pdo_index = 0x1600)
[ 4543.013170] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1600, entry_index = 0x6040, entry_subindex =
0x00, entry_bit_length = 16)
[ 4543.013175] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1600, entry_index = 0x607A, entry_subindex =
0x00, entry_bit_length = 32)
[ 4543.013180] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1600, entry_index = 0x60B1, entry_subindex =
0x00, entry_bit_length = 32)
[ 4543.013184] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1600, entry_index = 0x6072, entry_subindex =
0x00, entry_bit_length = 16)
[ 4543.013189] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1600, entry_index = 0x60FE, entry_subindex =
0x00, entry_bit_length = 32)
[ 4543.013193] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1600, entry_index = 0x60B8, entry_subindex =
0x00, entry_bit_length = 16)
[ 4543.013197] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1600, entry_index = 0x6060, entry_subindex =
0x00, entry_bit_length = 8)
[ 4543.013201] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc =
0xc838fc00, sync_index = 3, dir = 2, watchdog_mode = 2)
[ 4543.013205] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc
= 0xc838fc00, sync_index = 3)
[ 4543.013208] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc =
0xc838fc00, sync_index = 3, pdo_index = 0x1A00)
[ 4543.013212] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc
= 0xc838fc00, pdo_index = 0x1A00)
[ 4543.013216] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A00, entry_index = 0x6041, entry_subindex =
0x00, entry_bit_length = 16)
[ 4543.013220] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A00, entry_index = 0x6064, entry_subindex =
0x00, entry_bit_length = 32)
[ 4543.013226] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A00, entry_index = 0x606C, entry_subindex =
0x00, entry_bit_length = 32)
[ 4543.013230] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A00, entry_index = 0x6077, entry_subindex =
0x00, entry_bit_length = 16)
[ 4543.013235] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A00, entry_index = 0x60F4, entry_subindex =
0x00, entry_bit_length = 32)
[ 4543.013239] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A00, entry_index = 0x60FD, entry_subindex =
0x00, entry_bit_length = 32)
[ 4543.013243] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A00, entry_index = 0x60BA, entry_subindex =
0x00, entry_bit_length = 32)
[ 4543.013247] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A00, entry_index = 0x60B9, entry_subindex =
0x00, entry_bit_length = 16)
[ 4543.013251] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc =
0xc838fc00, sync_index = 3, pdo_index = 0x1A01)
[ 4543.013255] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc
= 0xc838fc00, pdo_index = 0x1A01)
[ 4543.013259] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A01, entry_index = 0x6061, entry_subindex =
0x00, entry_bit_length = 8)
[ 4543.013263] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A01, entry_index = 0x603F, entry_subindex =
0x00, entry_bit_length = 16)
[ 4543.013266] ec_mini: Registering PDO entries...
[ 4543.013269] EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain =
0xef0a2bc0, regs = 0xf8123160)
[ 4543.013273] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013277] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x6040, subindex = 0x00, domain = 0xef0a2bc0,
bit_position = 0x (null))
[ 4543.013282] EtherCAT DEBUG 0: Domain 0: Added 19 bytes, total 19.
[ 4543.013285] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013289] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x607A, subindex = 0x00, domain = 0xef0a2bc0,
bit_position = 0x (null))
[ 4543.013293] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013297] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x60B1, subindex = 0x00, domain = 0xef0a2bc0,
bit_position = 0x (null))
[ 4543.013300] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013304] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x6072, subindex = 0x00, domain = 0xef0a2bc0,
bit_position = 0x (null))
[ 4543.013308] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013312] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x60FE, subindex = 0x00, domain = 0xef0a2bc0,
bit_position = 0x (null))
[ 4543.013315] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013319] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x60B8, subindex = 0x00, domain = 0xef0a2bc0,
bit_position = 0x (null))
[ 4543.013323] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013327] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x6060, subindex = 0x00, domain = 0xef0a2bc0,
bit_position = 0x (null))
[ 4543.013330] EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain =
0xef0a25c0, regs = 0xf8123040)
[ 4543.013333] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013337] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x6041, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013340] EtherCAT DEBUG 0: Domain 1: Added 29 bytes, total 29.
[ 4543.013343] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013348] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x6064, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013351] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013355] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x606C, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013359] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013362] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x6077, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013366] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013370] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x60F4, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013373] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013377] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x60FD, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013381] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013385] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x60BA, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013388] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013392] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x60B9, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013396] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013400] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x6061, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013403] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013407] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x603F, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013411] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain =
0xef0a2bc0, mem = 0xefdce880)
[ 4543.013414] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain =
0xef0a25c0, mem = 0xefdceb00)
[ 4543.013417] ec_mini: Activating master...
[ 4543.013419] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xe195e000)
[ 4543.013425] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.
[ 4543.013429] EtherCAT 0: Domain0: Logical address 0x00000000, 19 byte,
expected working counter 1.
[ 4543.013432] EtherCAT 0: Datagram domain0-0-main: Logical offset
0x00000000, 19 byte, type LWR.
[ 4543.013436] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.
[ 4543.013439] EtherCAT 0: Domain1: Logical address 0x00000013, 29 byte,
expected working counter 1.
[ 4543.013442] EtherCAT 0: Datagram domain1-19-main: Logical offset
0x00000013, 29 byte, type LRD.
[ 4543.013445] EtherCAT DEBUG 0: Stopping master thread.
[ 4543.013499] EtherCAT DEBUG 0: Master IDLE thread exiting...
[ 4543.013569] EtherCAT 0: Master thread exited.
[ 4543.013575] EtherCAT DEBUG 0: FSM datagram is e195e420.
[ 4543.013579] EtherCAT 0: Starting EtherCAT-OP thread.
[ 4543.020995] ec_mini: Starting cyclic sample thread.
[ 4543.021007] ec_mini: Started.
[ 4543.021017] EtherCAT DEBUG 0: Operation thread running with fsm interval
= 4000 us, max data size=45000
[ 4543.021023] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[ 4543.060061] ec_mini: 1 slave(s).
[ 4543.060068] ec_mini: AL states: 0x02.
[ 4543.060071] ec_mini: Link is up.
[ 4543.060075] inputdata = 00000000
[ 4543.060078] inputdata = 00000000
[ 4543.060086] EtherCAT DEBUG 0: Configuration changed (aborting state
check).
[ 4543.060090] EtherCAT WARNING 0: No app_time received up to now, but
master already active.
[ 4543.060094] EtherCAT DEBUG 0: Requesting OP...
[ 4543.092062] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[ 4543.092070] EtherCAT DEBUG 0-0: Configuring...
[ 4543.116045] EtherCAT DEBUG 0-0: Now in INIT.
[ 4543.116053] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 4543.132022] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 4543.148031] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 4543.164043] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 4543.164053] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x36,
En 1
[ 4543.164057] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x32,
En 1
[ 4543.196026] EtherCAT DEBUG 0-0: Now in PREOP.
[ 4543.196035] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 6, Ctrl 0x74,
En 1
[ 4543.196039] EtherCAT DEBUG 0-0: SM3: Addr 0x1400, Size 6, Ctrl 0x30,
En 1
[ 4543.244011] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ 4543.268055] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[ 4543.284095] EtherCAT 0: Slave states on main device: OP.
It seems works well, there are no errors show on servo driver,except there
are three highlights above.
I have several questions as follows:
1. How to deal with Sdos, when I set #define SDO_ACCESS 1 , there always
show request ec_mini: still busy...
dmesg as follow:
/ethercat-master$ tool/ethercat sdos
SDO 0x1000, "Device
Type"
0x1000:00, r-r-r-,
uint32, 32 bit, "Device Type"
0x1000:01, r-r-r-,
uint32, 32 bit, "Device Type"
SDO 0x1001, ""
Failed to get SDO
entry: Invalid argument
2. How to make my servo on and motor start to rotate?
I have try follow steps by command lines:
Firstly Set operation mode 0x6060 as 9 which means cyclic velocity mode
Secondly, set control word 0x6040 as 15
Then set target speed 0x607a as 300
Seems there is no reaction, i check set status 0x6041, there is no change
even i change 0x6040
So I am wondering how can i make my motor rotate by modify mini.c?
Anyone can give me any hints will be appreciated!
-cheng xi
On Wed, Jan 28, 2015 at 5:18 AM, <etherlab-users-requ...@etherlab.org>
wrote:
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> Today's Topics:
>
> 1. Yaskawa servo Sychronization Error (Ruika You)
> 2. Re: Yaskawa servo Sychronization Error (Graeme Foot)
>
>
> ----------------------------------------------------------------------
>
> Message: 1
> Date: Tue, 27 Jan 2015 23:21:25 +0800
> From: Ruika You <crazylinux...@gmail.com>
> To: etherlab-users@etherlab.org
> Subject: [etherlab-users] Yaskawa servo Sychronization Error
> Message-ID:
> <
> cabqyfp-lex7zkwt9gbjs36u2zvsnw1xtbmicojt6zo+9jug...@mail.gmail.com>
> Content-Type: text/plain; charset="utf-8"
>
> Dear all,
>
> When I am trying to using etherlab master with yaskawa servo,
> sychronization error occur.
> dmesg result as follow:
> [705599.272444] EtherCAT 0: Link state of ecm0 changed to UP.
> [705599.280070] EtherCAT WARNING 0: 1 datagram TIMED OUT!
> [705599.292077] EtherCAT 0: 1 slave(s) responding on main device.
> [705599.292087] EtherCAT 0: Slave states on main device: INIT.
> [705599.292581] EtherCAT 0: Scanning bus.
> [705599.316499] EtherCAT 0: Bus scanning completed in 24 ms.
> [705599.316509] EtherCAT 0: Using slave 0 as DC reference clock.
> [705599.320410] EtherCAT 0: Slave states on main device: PREOP.
> [705602.382934] EtherCAT ERROR 0-0: Corrupt mailbox response received!
> [705602.382945] EtherCAT DEBUG: 7E 00 01 00 00 63 00 80 04 00 00 00 01 10
> 05 00
> [705602.382965] EtherCAT DEBUG: 00 07 45 72 72 6F 72 20 52 65 67 69 73 74
> 65 72
> [705602.382983] EtherCAT DEBUG: 65 60 9A 60 B1 60 B2 60 B8 60 B9 60 BA 60
> BC 60
> [705602.383001] EtherCAT DEBUG: C1 60 C2 60 E0 60 E1 60 F4 60 FC 60 FD 60
> FE 60
> [705602.383019] EtherCAT DEBUG: FF 60 02 65 03 27 10 27 20 27 E0 27 3F 60
> 40 60
> [705602.383037] EtherCAT DEBUG: 41 60 5A 60 5B 60 5C 60 5D 60 5E 60 60 60
> 61 60
> [705602.383055] EtherCAT DEBUG: 62 60 63 60 64 60 65 60 66 60 67 60 68 60
> 6B 60
> [705602.383073] EtherCAT DEBUG: 6C 60 6D 60 6E 60 71 60 72 60 74 60 76 60
> 77 60
> [705670.466102] EtherCAT: Requesting master 0...
> [705670.466114] EtherCAT: Successfully requested master 0.
> [705670.466230] EtherCAT 0: Domain0: Logical address 0x00000000, 6 byte,
> expected working counter 1.
> [705670.466236] EtherCAT 0: Datagram domain0-0-main: Logical offset
> 0x00000000, 6 byte, type LWR.
> [705670.466290] EtherCAT 0: Master thread exited.
> [705670.466297] EtherCAT 0: Starting EtherCAT-OP thread.
> [705670.467927] EtherCAT WARNING 0: 1 datagram TIMED OUT!
> [705715.024606] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
> SKIPPED 1 time.
> [705715.464737] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
> [705716.183720] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
> [705716.190654] EtherCAT 0: Domain 0: Working counter changed to 1/1.
> [705716.312261] EtherCAT 0: Slave states on main device: OP.
> [705716.349656] EtherCAT ERROR 0-0: AL status message 0x001A:
> "Synchronization error".
> [705716.353660] EtherCAT 0-0: Acknowledged state SAFEOP.
> [705716.464063] EtherCAT WARNING 0: 6 datagrams UNMATCHED!
> [705717.032627] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
> SKIPPED 5 times.
> [705717.192606] EtherCAT 0: Domain 0: 3 working counter changes - now 0/1.
> [705717.464687] EtherCAT WARNING 0: 18 datagrams UNMATCHED!
> [705718.036643] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
> SKIPPED 3 times.
> [705719.040649] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
> SKIPPED 1 time.
> [705719.464082] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
> [705721.492751] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
> [705721.499648] EtherCAT 0: Domain 0: Working counter changed to 1/1.
> [705722.885394] EtherCAT 0: Domain 0: Working counter changed to 0/1.
> [705723.056714] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
> SKIPPED 1 time.
> [705723.464068] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
> [705723.888711] EtherCAT 0: Domain 0: Working counter changed to 1/1.
> [705726.893333] EtherCAT 0: Domain 0: Working counter changed to 0/1.
> [705726.901697] EtherCAT ERROR 0-0: AL status message 0x001A:
> "Synchronization error".
> [705726.904702] EtherCAT 0-0: Acknowledged state SAFEOP.
> [705727.072708] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
> SKIPPED 1 time.
> [705727.464031] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
> [705727.896710] EtherCAT 0: Domain 0: 2 working counter changes - now 0/1.
> [705731.088737] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
> SKIPPED 1 time.
> [705731.464045] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
>
> It seems there are two issues. First of all, [705602.382934] EtherCAT ERROR
> 0-0: Corrupt mailbox response received!
> secondly, sychronization error.
>
> Any idea?
> -------------- next part --------------
> An HTML attachment was scrubbed...
> URL: <
> http://lists.etherlab.org/pipermail/etherlab-users/attachments/20150127/94439334/attachment-0001.html
> >
>
> ------------------------------
>
> Message: 2
> Date: Tue, 27 Jan 2015 21:18:23 +0000
> From: Graeme Foot <graeme.f...@touchcut.com>
> To: Ruika You <crazylinux...@gmail.com>, "etherlab-users@etherlab.org"
> <etherlab-users@etherlab.org>
> Subject: Re: [etherlab-users] Yaskawa servo Sychronization Error
> Message-ID:
> <8B370CF9AC667C4E8616D8DD2C3231D52BED8737@Pluto.touchcut.local>
> Content-Type: text/plain; charset="utf-8"
>
> Hi,
>
> Ignore the ?Corrupt mailbox response received?. Also have a quick read of:
> http://lists.etherlab.org/pipermail/etherlab-users/2010/001071.html
>
> The main problem looks to me like the network is not stable. First of all
> make sure that all the network cables are plugged in correctly and of a
> high enough standard. Try different cables. Cheap cables can cause
> problems.
>
> Also ensure the realtime loop is polling consistently, with little jitter.
>
> I also notice that you only have one domain. The yaskawa drives require
> the reads to be separated from the writes in two separate domains.
>
> Are you setting up the drive for Distributed Clock? If you use the
> default Etherlab master method where the PC clock is the master then the
> yaskawa drives aren?t generally happy. There is too much jitter. Search
> the forum history for more info on that one.
>
>
> A few things for you to start checking.
>
> Regards,
> Graeme.
>
>
> From: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] On
> Behalf Of Ruika You
> Sent: Wednesday, 28 January 2015 4:21 a.m.
> To: etherlab-users@etherlab.org
> Subject: [etherlab-users] Yaskawa servo Sychronization Error
>
> Dear all,
> When I am trying to using etherlab master with yaskawa servo,
> sychronization error occur.
> dmesg result as follow:
> [705599.272444] EtherCAT 0: Link state of ecm0 changed to UP.
> [705599.280070] EtherCAT WARNING 0: 1 datagram TIMED OUT!
> [705599.292077] EtherCAT 0: 1 slave(s) responding on main device.
> [705599.292087] EtherCAT 0: Slave states on main device: INIT.
> [705599.292581] EtherCAT 0: Scanning bus.
> [705599.316499] EtherCAT 0: Bus scanning completed in 24 ms.
> [705599.316509] EtherCAT 0: Using slave 0 as DC reference clock.
> [705599.320410] EtherCAT 0: Slave states on main device: PREOP.
> [705602.382934] EtherCAT ERROR 0-0: Corrupt mailbox response received!
> [705602.382945] EtherCAT DEBUG: 7E 00 01 00 00 63 00 80 04 00 00 00 01 10
> 05 00
> [705602.382965] EtherCAT DEBUG: 00 07 45 72 72 6F 72 20 52 65 67 69 73 74
> 65 72
> [705602.382983] EtherCAT DEBUG: 65 60 9A 60 B1 60 B2 60 B8 60 B9 60 BA 60
> BC 60
> [705602.383001] EtherCAT DEBUG: C1 60 C2 60 E0 60 E1 60 F4 60 FC 60 FD 60
> FE 60
> [705602.383019] EtherCAT DEBUG: FF 60 02 65 03 27 10 27 20 27 E0 27 3F 60
> 40 60
> [705602.383037] EtherCAT DEBUG: 41 60 5A 60 5B 60 5C 60 5D 60 5E 60 60 60
> 61 60
> [705602.383055] EtherCAT DEBUG: 62 60 63 60 64 60 65 60 66 60 67 60 68 60
> 6B 60
> [705602.383073] EtherCAT DEBUG: 6C 60 6D 60 6E 60 71 60 72 60 74 60 76 60
> 77 60
> [705670.466102] EtherCAT: Requesting master 0...
> [705670.466114] EtherCAT: Successfully requested master 0.
> [705670.466230] EtherCAT 0: Domain0: Logical address 0x00000000, 6 byte,
> expected working counter 1.
> [705670.466236] EtherCAT 0: Datagram domain0-0-main: Logical offset
> 0x00000000, 6 byte, type LWR.
> [705670.466290] EtherCAT 0: Master thread exited.
> [705670.466297] EtherCAT 0: Starting EtherCAT-OP thread.
> [705670.467927] EtherCAT WARNING 0: 1 datagram TIMED OUT!
> [705715.024606] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
> SKIPPED 1 time.
> [705715.464737] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
> [705716.183720] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
> [705716.190654] EtherCAT 0: Domain 0: Working counter changed to 1/1.
> [705716.312261] EtherCAT 0: Slave states on main device: OP.
> [705716.349656] EtherCAT ERROR 0-0: AL status message 0x001A:
> "Synchronization error".
> [705716.353660] EtherCAT 0-0: Acknowledged state SAFEOP.
> [705716.464063] EtherCAT WARNING 0: 6 datagrams UNMATCHED!
> [705717.032627] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
> SKIPPED 5 times.
> [705717.192606] EtherCAT 0: Domain 0: 3 working counter changes - now 0/1.
> [705717.464687] EtherCAT WARNING 0: 18 datagrams UNMATCHED!
> [705718.036643] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
> SKIPPED 3 times.
> [705719.040649] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
> SKIPPED 1 time.
> [705719.464082] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
> [705721.492751] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
> [705721.499648] EtherCAT 0: Domain 0: Working counter changed to 1/1.
> [705722.885394] EtherCAT 0: Domain 0: Working counter changed to 0/1.
> [705723.056714] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
> SKIPPED 1 time.
> [705723.464068] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
> [705723.888711] EtherCAT 0: Domain 0: Working counter changed to 1/1.
> [705726.893333] EtherCAT 0: Domain 0: Working counter changed to 0/1.
> [705726.901697] EtherCAT ERROR 0-0: AL status message 0x001A:
> "Synchronization error".
> [705726.904702] EtherCAT 0-0: Acknowledged state SAFEOP.
> [705727.072708] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
> SKIPPED 1 time.
> [705727.464031] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
> [705727.896710] EtherCAT 0: Domain 0: 2 working counter changes - now 0/1.
> [705731.088737] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
> SKIPPED 1 time.
> [705731.464045] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
> It seems there are two issues. First of all, [705602.382934] EtherCAT
> ERROR 0-0: Corrupt mailbox response received!
> secondly, sychronization error.
> Any idea?
> -------------- next part --------------
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> http://lists.etherlab.org/pipermail/etherlab-users/attachments/20150127/18fb6ee9/attachment.html
> >
>
> ------------------------------
>
> Subject: Digest Footer
>
> _______________________________________________
> etherlab-users mailing list
> etherlab-users@etherlab.org
> http://lists.etherlab.org/mailman/listinfo/etherlab-users
>
>
> ------------------------------
>
> End of etherlab-users Digest, Vol 92, Issue 8
> *********************************************
>
/******************************************************************************
*
* $Id: mini.c,v bc2d4bf9cbe5 2012/09/06 18:22:24 fp $
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
#include<linux/init.h>
#include <linux/version.h>
#include <linux/module.h>
#include <linux/timer.h>
#include <linux/interrupt.h>
#include <linux/err.h>
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 34)
#include <linux/slab.h>
#endif
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
#include <linux/semaphore.h>
#else
#include <asm/semaphore.h>
#endif
#include "../../include/ecrt.h" // EtherCAT realtime interface
/*****************************************************************************/
// Module parameters
#define FREQUENCY 100
// Optional features
#define CONFIGURE_PDOS 1
//#define EL3152_ALT_PDOS 0
#define EXTERNAL_MEMORY 1
#define SDO_ACCESS 1
#define VOE_ACCESS 0
#define ENABLE_INPUTS 1
#define PFX "ec_mini: "
/*****************************************************************************/
// EtherCAT
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};
struct semaphore master_sem;
//static ec_domain_t *domain1 = NULL;
/*****************************************\
Seperate domain
\*****************************************/
static ec_domain_t *read_domain = NULL;
static ec_domain_t *write_domain = NULL;
//static ec_domain_state_t domain1_state = {};
static ec_domain_state_t read_domain_state = {};
static ec_domain_state_t write_domain_state = {};
static ec_slave_config_t *sc_ana_in = NULL;
static ec_slave_config_state_t sc_ana_in_state = {};
// Timer
static struct timer_list timer;
/*****************************************************************************/
// process data
//static uint8_t *domain1_pd; // process data memory
static uint8_t *read_domain_pd;
static uint8_t *write_domain_pd;
//#define AnaInSlavePos 0, 2
//#define AnaOutSlavePos 0, 1
//#define DigOutSlavePos 0, 3
//#define Beckhoff_EL2004 0x00000002, 0x07D43052
//#define Beckhoff_EL3152 0x00000002, 0x0c503052
//#define Beckhoff_EL4102 0x00000002, 0x10063052
#define YaskawaPos 0, 1
#define Yaskawa_SGDV 0x00000539, 0x02200001
// offsets for PDO entries
//static unsigned int off_ana_in;
//static unsigned int off_ana_out;
//static unsigned int off_dig_out;
//static unsigned int off_ana_in;
static unsigned int control_word_rw;
static unsigned int target_velocity_rw;
//static unsigned int target_position_rw;
//static unsigned int velocity_offset_rw;
//static unsigned int max_torque_rw;
//static unsigned int outputs_rw;
//static unsigned int latch_control_rw;
static unsigned int mode_operation_rw;
static unsigned int status_r;
static unsigned int actual_position_r;
//static unsigned int actual_velocity_r;
//static unsigned int actual_torque_r;
//static unsigned int actual_following_error_r;
//static unsigned int inputs_r;
//static unsigned int latch_pos_r;
//static unsigned int latch_status_r;
//static unsigned int current_mode_operation_r;
//static unsigned int last_error_code_r;
//const static ec_pdo_entry_reg_t domain1_regs[] = {
//#if EL3152_ALT_PDOS
// {AnaInSlavePos, Beckhoff_EL3152, 0x6401, 1, &off_ana_in},
//#else
// {AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in},
//#endif
// {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
// {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
// {}
//};
const static ec_pdo_entry_reg_t write_domain_regs[] = {
// {YaskawaPos, Yaskawa_SGDV, 0x6040, 0, &control_word_rw},
// {YaskawaPos, Yaskawa_SGDV, 0x607a, 0, &target_position_rw},
// {YaskawaPos, Yaskawa_SGDV, 0x60b1, 0, &velocity_offset_rw},
// {YaskawaPos, Yaskawa_SGDV, 0x6072, 0, &max_torque_rw},
// {YaskawaPos, Yaskawa_SGDV, 0x60fe, 0, &outputs_rw},
// {YaskawaPos, Yaskawa_SGDV, 0x60b8, 0, &latch_control_rw},
// {YaskawaPos, Yaskawa_SGDV, 0x6060, 0, &mode_operation_rw},
{YaskawaPos, Yaskawa_SGDV, 0x6040, 0, &control_word_rw},
{YaskawaPos, Yaskawa_SGDV, 0x60ff, 0, &target_velocity_rw},
{YaskawaPos, Yaskawa_SGDV, 0x6060, 0, &mode_operation_rw},
{}
};
const static ec_pdo_entry_reg_t read_domain_regs[] = {
{YaskawaPos, Yaskawa_SGDV, 0x6041, 0, &status_r},
{YaskawaPos, Yaskawa_SGDV, 0x6064, 0, &actual_position_r},
// {YaskawaPos, Yaskawa_SGDV, 0x6041, 0, &status_r},
// {YaskawaPos, Yaskawa_SGDV, 0x6064, 0, &actual_position_r},
// {YaskawaPos, Yaskawa_SGDV, 0x606c, 0, &actual_velocity_r},
// {YaskawaPos, Yaskawa_SGDV, 0x6077, 0, &actual_torque_r},
// {YaskawaPos, Yaskawa_SGDV, 0x60f4, 0, &actual_following_error_r},
// {YaskawaPos, Yaskawa_SGDV, 0x60fd, 0, &inputs_r},
// {YaskawaPos, Yaskawa_SGDV, 0x60ba, 0, &latch_pos_r},
// {YaskawaPos, Yaskawa_SGDV, 0x60b9, 0, &latch_status_r},
// {YaskawaPos, Yaskawa_SGDV, 0x6061, 0, ¤t_mode_operation_r},
// {YaskawaPos, Yaskawa_SGDV, 0x603f, 0, &last_error_code_r},
{}
};
static unsigned int counter = 0;
static unsigned int blink = 0;
///*****************************************************************************/
//#if CONFIGURE_PDOS
//// Analog in --------------------------
//static ec_pdo_entry_info_t el3152_pdo_entries[] = {
// {0x3101, 1, 8}, // channel 1 status
// {0x3101, 2, 16}, // channel 1 value
// {0x3102, 1, 8}, // channel 2 status
// {0x3102, 2, 16}, // channel 2 value
// {0x6401, 1, 16}, // channel 1 value (alt.)
// {0x6401, 2, 16} // channel 2 value (alt.)
//};
//#if EL3152_ALT_PDOS
//static ec_pdo_info_t el3152_pdos[] = {
// {0x1A10, 2, el3152_pdo_entries + 4},
//};
//static ec_sync_info_t el3152_syncs[] = {
// {2, EC_DIR_OUTPUT},
// {3, EC_DIR_INPUT, 1, el3152_pdos},
// {0xff}
//};
//#else
//static ec_pdo_info_t el3152_pdos[] = {
// {0x1A00, 2, el3152_pdo_entries},
// {0x1A01, 2, el3152_pdo_entries + 2}
//};
//static ec_sync_info_t el3152_syncs[] = {
// {2, EC_DIR_OUTPUT},
// {3, EC_DIR_INPUT, 1, el3152_pdos},
// {0xff}
//};
//#endif
//// Analog out -------------------------
//static ec_pdo_entry_info_t el4102_pdo_entries[] = {
// {0x3001, 1, 16}, // channel 1 value
// {0x3002, 1, 16}, // channel 2 value
//};
//static ec_pdo_info_t el4102_pdos[] = {
// {0x1600, 1, el4102_pdo_entries},
// {0x1601, 1, el4102_pdo_entries + 1}
//};
//static ec_sync_info_t el4102_syncs[] = {
// {2, EC_DIR_OUTPUT, 2, el4102_pdos},
// {3, EC_DIR_INPUT},
// {0xff}
//};
//// Digital out ------------------------
//static ec_pdo_entry_info_t el2004_channels[] = {
// {0x3001, 1, 1}, // Value 1
// {0x3001, 2, 1}, // Value 2
// {0x3001, 3, 1}, // Value 3
// {0x3001, 4, 1} // Value 4
//};
//static ec_pdo_info_t el2004_pdos[] = {
// {0x1600, 1, &el2004_channels[0]},
// {0x1601, 1, &el2004_channels[1]},
// {0x1602, 1, &el2004_channels[2]},
// {0x1603, 1, &el2004_channels[3]}
//};
//static ec_sync_info_t el2004_syncs[] = {
// {0, EC_DIR_OUTPUT, 4, el2004_pdos},
// {1, EC_DIR_INPUT},
// {0xff}
//};
//#endif
/*****************************************************************************/
static ec_pdo_entry_info_t yaskawaSGDV_pdoEntries[] = {/*
{0x6040, 0x00, 16}, // pg 8-21 control (rw)
{0x607a, 0x00, 32}, // pg 8-30 target position (rw) (for cyclic sync pos mode)
{0x60b1, 0x00, 32}, // pg 8-37 velocity offset (rw) (for cyclic sync pos mode)
{0x6072, 0x00, 16}, // pg 8-40 max torque (rw) in 0.1% increments, what is +ve torque lim and - torque lim? pdo or sdo??
// {0x60fe, 0x01, 32}, // pg 8-44 outputs (rw) (bits 17, 18, 19 control outputs 1, 2, 3)
{0x60fe, 0x00, 32}, // pg 8-44 outputs (rw) (bits 17, 18, 19 control outputs 1, 2, 3)
{0x60b8, 0x00, 16}, // pg 8-41 latchControl (rw) (bits: 0 enable latch, 1 single/continuous trigger,
// 2 0=latch on S14 | 1=latch on C, 4 enable latch sampling???)
{0x6060, 0x00, 8}, // pg 8-28 mode of operation (rw) (8=cyclic pos, 9=cyclic vel)
{0x6041, 0x00, 16}, // pg 8-23 status (r)
{0x6064, 0x00, 32}, // pg 8-34 actual position (r)
{0x606c, 0x00, 32}, // pg 8-38 actual velocity (r) required??
{0x6077, 0x00, 16}, // pg 8-39 actual torque (r)
{0x60f4, 0x00, 32}, // pg 8-35 actual following error (r)
{0x60fd, 0x00, 32}, // pg 8-43 inputs (r) (available inputs: 0 (rev lim), 1 (fwd lim), 2 (hm),
// 16 - 22 (via CN1), 25 - 25 (via base block))
{0x60ba, 0x00, 32}, // pg 8-42 latchPos (r) (via touch probe 1)
{0x60b9, 0x00, 16}, // pg 8-42 latchStatus (r) (bits: 0 latch enabled, 1 latched, 7 latched toggle (for continuous mode))
{0x6061, 0x00, 8}, // pg 8-28 current mode of operation
{0x603f, 0x00, 16}, // pg 8-21 last error codedomain1_state*/
{0x6040, 0x00, 16},
{0x60ff, 0x00, 32},
{0x6060, 0x00, 8}, // pg 8-28 mode of operation (rw) (8=cyclic pos, 9=cyclic vel)
{0x6041, 0x00, 16},
{0x6064, 0x00, 32}
};
ec_pdo_info_t yaskawaSGDV_pdos[] = {
// {0x1600, 7, yaskawaSGDV_pdoEntries + 0},
// {0x1a00, 8, yaskawaSGDV_pdoEntries + 7},
// {0x1a01, 2, yaskawaSGDV_pdoEntries + 15},
{0x1602, 3, yaskawaSGDV_pdoEntries + 0},
{0x1a02, 2, yaskawaSGDV_pdoEntries + 3},
};
ec_sync_info_t yaskawaSGDV_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, yaskawaSGDV_pdos + 0, EC_WD_ENABLE},
// {3, EC_DIR_INPUT, 2, yaskawaSGDV_pdos + 1, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 1, yaskawaSGDV_pdos + 1, EC_WD_DISABLE},
{0xff}
};
/*****************************************************************************/
#if SDO_ACCESS
static ec_sdo_request_t *sdo;
#endif
#if VOE_ACCESS
static ec_voe_handler_t *voe;
#endif
/*****************************************************************************/
//void check_domain1_state(void)
//{
// ec_domain_state_t ds;
// down(&master_sem);
// ecrt_domain_state(domain1, &ds);
// up(&master_sem);
// if (ds.working_counter != domain1_state.working_counter)
// printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);
// if (ds.wc_state != domain1_state.wc_state)
// printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state);
// domain1_state = ds;
//}
void check_read_domain_state(void)
{
ec_domain_state_t ds;
down(&master_sem);
ecrt_domain_state(read_domain, &ds);
up(&master_sem);
if (ds.working_counter != read_domain_state.working_counter)
printk(KERN_INFO PFX "Read Domain: WC %u.\n", ds.working_counter);
if (ds.wc_state != read_domain_state.wc_state)
printk(KERN_INFO PFX "Read Domain: State %u.\n", ds.wc_state);
read_domain_state = ds;
}
void check_write_domain_state(void)
{
ec_domain_state_t ds;
down(&master_sem);
ecrt_domain_state(write_domain, &ds);
up(&master_sem);
if (ds.working_counter != write_domain_state.working_counter)
printk(KERN_INFO PFX "Write Domain: WC %u.\n", ds.working_counter);
if (ds.wc_state != write_domain_state.wc_state)
printk(KERN_INFO PFX "Write Domain: State %u.\n", ds.wc_state);
write_domain_state = ds;
}
/*****************************************************************************/
void check_master_state(void)
{
ec_master_state_t ms;
down(&master_sem);
ecrt_master_state(master, &ms);
up(&master_sem);
if (ms.slaves_responding != master_state.slaves_responding)
printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);
if (ms.al_states != master_state.al_states)
printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);
if (ms.link_up != master_state.link_up)
printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");
master_state = ms;
}
/*****************************************************************************/
void check_slave_config_states(void)
{
ec_slave_config_state_t s;
down(&master_sem);
ecrt_slave_config_state(sc_ana_in, &s);
up(&master_sem);
if (s.al_state != sc_ana_in_state.al_state)
printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state);
if (s.online != sc_ana_in_state.online)
printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline");
if (s.operational != sc_ana_in_state.operational)
printk(KERN_INFO PFX "AnaIn: %soperational.\n",
s.operational ? "" : "Not ");
sc_ana_in_state = s;
}
/*****************************************************************************/
#if SDO_ACCESS
void read_sdo(void)
{
switch (ecrt_sdo_request_state(sdo)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo); // trigger first read
break;
case EC_REQUEST_BUSY:
printk(KERN_INFO PFX "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
printk(KERN_INFO PFX "SDO value: 0x%04X\n",
EC_READ_U16(ecrt_sdo_request_data(sdo)));
ecrt_sdo_request_read(sdo); // trigger next read
break;
case EC_REQUEST_ERROR:
printk(KERN_INFO PFX "Failed to read SDO!\n");
ecrt_sdo_request_read(sdo); // retry reading
break;
}
}
#endif
/*****************************************************************************/
#if VOE_ACCESS
void read_voe(void)
{
switch (ecrt_voe_handler_execute(voe)) {
case EC_REQUEST_UNUSED:
ecrt_voe_handler_read(voe); // trigger first read
break;
case EC_REQUEST_BUSY:
printk(KERN_INFO PFX "VoE read still busy...\n");
break;
case EC_REQUEST_SUCCESS:
printk(KERN_INFO PFX "VoE received.\n");
// get data via ecrt_voe_handler_data(voe)
ecrt_voe_handler_read(voe); // trigger next read
break;
case EC_REQUEST_ERROR:
printk(KERN_INFO PFX "Failed to read VoE data!\n");
ecrt_voe_handler_read(voe); // retry reading
break;
}
}
#endif
/*****************************************************************************/
//void cyclic_task(unsigned long data)
//{
// // receive process data
// down(&master_sem);
// ecrt_master_receive(master);
// ecrt_domain_process(domain1);
// up(&master_sem);
// // check process data state (optional)
// check_domain1_state();
// 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 for islave configuration state(s) (optional)
// check_slave_config_states();
//#if SDO_ACCESS
// // read process data SDO
// read_sdo();
//#endif
//#if VOE_ACCESS
// read_voe();
//#endif
// }
// // write process data
// EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
// // send process data
// down(&master_sem);
// ecrt_domain_queue(domain1);
// ecrt_master_send(master);
// up(&master_sem);
// // restart timer
// timer.expires += HZ / FREQUENCY;
// add_timer(&timer);
//}
void cyclic_task(unsigned long data)
{
unsigned short inputdata;
// static unsigned short ctrlword = 0;
// receive process data
down(&master_sem);
ecrt_master_receive(master);
ecrt_domain_process(write_domain);
#ifdef ENABLE_INPUTS
ecrt_domain_process(read_domain);
#endif
up(&master_sem);
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY*10;///10;
// calculate new process data
// blink ^= 0xFFFF;
blink *= 2;
// check process data state (optional)
check_read_domain_state();
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
if (blink > 0x8000)
blink = 1;
}
#if SDO_ACCESS
// read process data SDO
read_sdo();
#endif
// write process data
EC_WRITE_U16(write_domain_pd + control_word_rw, 0x09);
#ifdef ENABLE_INPUTS
inputdata = EC_READ_U16(read_domain_pd + status_r);
// if(counter == FREQUENCY*10)
// printk(KERN_ALERT "inputdata = %08X\n",inputdata);
// inputdata = EC_READ_U16(read_domain_pd + current_mode_operation_r);
// if(counter == FREQUENCY*10)
// printk(KERN_ALERT "inputdata = %08X\n",inputdata);
#endif
// send process data
down(&master_sem);
ecrt_domain_queue(write_domain);
ecrt_domain_queue(read_domain);
ecrt_master_send(master);
up(&master_sem);
// restart timer
timer.expires += HZ / FREQUENCY;
add_timer(&timer);
// if(control_word_rw == 0)
// control_word_rw = 6;
// else if(control_word_rw == 6)
// control_word_rw = 7;
// else if(control_word_rw == 7)
// control_word_rw = 15;
}
/*****************************************************************************/
void send_callback(void *cb_data)
{
ec_master_t *m = (ec_master_t *) cb_data;
down(&master_sem);
ecrt_master_send_ext(m);
up(&master_sem);
}
/*****************************************************************************/
void receive_callback(void *cb_data)
{
ec_master_t *m = (ec_master_t *) cb_data;
down(&master_sem);
ecrt_master_receive(m);
up(&master_sem);
}
/*****************************************************************************/
int __init init_mini_module(void)
{
int ret = -1;
#if CONFIGURE_PDOS
ec_slave_config_t *sc;
#endif
#if EXTERNAL_MEMORY
unsigned int size;
#endif
printk(KERN_INFO PFX "Starting...\n");
master = ecrt_request_master(0);
if (!master) {
ret = -EBUSY;
printk(KERN_ERR PFX "Requesting master 0 failed.\n");
goto out_return;
}
sema_init(&master_sem, 1);
ecrt_master_callbacks(master, send_callback, receive_callback, master);
printk(KERN_INFO PFX "Registering domain...\n");
if (!(write_domain = ecrt_master_create_domain(master))) {
printk(KERN_ERR PFX "Domain creation failed!\n");
goto out_release_master;
}
if (!(read_domain = ecrt_master_create_domain(master))) {
printk(KERN_ERR PFX "Domain creation failed!\n");
goto out_release_master;
}
if (!(sc_ana_in = ecrt_master_slave_config(
master, YaskawaPos, Yaskawa_SGDV))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
//
// slaveConfig = ecrt_master_slave_config(master, alias, position,
// vendorID, productCode);
// ecrt_slave_config_pdos(slaveConfig, EC_END, yaskawaSGDV_syncs);
//
#if CONFIGURE_PDOS
printk(KERN_INFO PFX "Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, yaskawaSGDV_syncs)) {
printk(KERN_ERR PFX "Failed to configure PDOs.\n");
goto out_release_master;
}
// if (!(sc = ecrt_master_slave_config(
// master, AnaOutSlavePos, Beckhoff_EL4102))) {
// printk(KERN_ERR PFX "Failed to get slave configuration.\n");
// goto out_release_master;
// }
// if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
// printk(KERN_ERR PFX "Failed to configure PDOs.\n");
// goto out_release_master;
// }
// if (!(sc = ecrt_master_slave_config(
// master, DigOutSlavePos, Beckhoff_EL2004))) {
// printk(KERN_ERR PFX "Failed to get slave configuration.\n");
// goto out_release_master;
// }
// if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
// printk(KERN_ERR PFX "Failed to configure PDOs.\n");
// goto out_release_master;
// }
#endif
#if SDO_ACCESS
printk(KERN_INFO PFX "Creating SDO requests...\n");
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x6061, 0x00, 4))) {
printk(KERN_ERR PFX "Failed to create SDO request.\n");
goto out_release_master;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
#endif
//#if VOE_ACCESS
// printk(KERN_INFO PFX "Creating VoE handlers...\n");
// if (!(voe = ecrt_slave_config_create_voe_handler(sc_ana_in, 1000))) {
// printk(KERN_ERR PFX "Failed to create VoE handler.\n");
// goto out_release_master;
// }
//#endif
printk(KERN_INFO PFX "Registering PDO entries...\n");
if (ecrt_domain_reg_pdo_entry_list(write_domain, write_domain_regs)) {
printk(KERN_ERR PFX "write PDO entry registration failed!\n");
goto out_release_master;
}
if (ecrt_domain_reg_pdo_entry_list(read_domain, read_domain_regs)) {
printk(KERN_ERR PFX "read PDO entry registration failed!\n");
goto out_release_master;
}
#if EXTERNAL_MEMORY
if ((size = ecrt_domain_size(write_domain))) {
if (!(write_domain_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
printk(KERN_ERR PFX "Failed to allocate %u bytes of process data"
" memory!\n", size);
goto out_release_master;
}
ecrt_domain_external_memory(write_domain, write_domain_pd);
}
if ((size = ecrt_domain_size(read_domain))) {
if (!(read_domain_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
printk(KERN_ERR PFX "Failed to allocate %u bytes of process data"
" memory!\n", size);
goto out_release_master;
}
ecrt_domain_external_memory(read_domain, read_domain_pd);
}
#endif
printk(KERN_INFO PFX "Activating master...\n");
if (ecrt_master_activate(master)) {
printk(KERN_ERR PFX "Failed to activate master!\n");
#if EXTERNAL_MEMORY
goto out_free_process_data;
#else
goto out_release_master;
#endif
}
#if !EXTERNAL_MEMORY
// Get internal process data for domain
write_domain_pd = ecrt_domain_data(write_domain);
read_domain_pd = ecrt_domain_data(read_domain);
#endif
printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
init_timer(&timer);
timer.function = cyclic_task;
timer.expires = jiffies + 10;
add_timer(&timer);
printk(KERN_INFO PFX "Started.\n");
return 0;
#if EXTERNAL_MEMORY
out_free_process_data:
kfree(write_domain_pd);
kfree(read_domain_pd);
#endif
out_release_master:
printk(KERN_ERR PFX "Releasing master...\n");
ecrt_release_master(master);
out_return:
printk(KERN_ERR PFX "Failed to load. Aborting.\n");
return ret;
}
/*****************************************************************************/
void __exit cleanup_mini_module(void)
{
printk(KERN_INFO PFX "Stopping...\n");
del_timer_sync(&timer);
#if EXTERNAL_MEMORY
kfree(write_domain_pd);
kfree(read_domain_pd);
#endif
printk(KERN_INFO PFX "Releasing master...\n");
ecrt_release_master(master);
printk(KERN_INFO PFX "Unloading.\n");
}
/*****************************************************************************/
MODULE_LICENSE("GPL");
MODULE_AUTHOR("Florian Pose <f...@igh-essen.com>");
MODULE_DESCRIPTION("EtherCAT minimal test environment");
module_init(init_mini_module);
module_exit(cleanup_mini_module);
/*****************************************************************************/
ec_mini
Description: Binary data
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