PDO tutorial doesn't work

[MatejBartosovic]

Hello. I am following the PDO configuration tutorial however PDO's are not produced by the demo device.

What I have done so far:

• start candump can0
• run demo device ./demoLinuxDevice can0
• start canopend with stdin interface ./canopend can0 -i 1 -c stdio and send commands based on tutorial

Outputs:

• demo device

  ./demoLinuxDevice can0
  ./demoLinuxDevice[30528]: CANopen device, Node ID = 0x00, starting
  ./demoLinuxDevice[30528]: CAN Interface "can0" RX buffer set to 477 messages (212992 Bytes)
  ./demoLinuxDevice[30528]: CANopen NMT state changed to: "initializing" (0)
  ./demoLinuxDevice[30528]: CANopen device, Node ID = 0x04, communication reset
  ./demoLinuxDevice[30528]: CANopen device, Node ID = 0x04, running ...
  ./demoLinuxDevice[30528]: CANopen NMT state changed to: "pre-operational" (127)

• canopend

  ./canopend can0 -i 1 -c stdio
  ./canopend[30531]: CANopen device, Node ID = 0x00, starting
  ./canopend[30531]: CANopen command interface on "standard IO" started
  ./canopend[30531]: CAN Interface "can0" RX buffer set to 477 messages (212992 Bytes)
  ./canopend[30531]: CANopen NMT state changed to: "initializing" (0)
  ./canopend[30531]: CANopen device, Node ID = 0x01, communication reset
  ./canopend[30531]: CANopen device, Node ID = 0x01, running ...
  ./canopend[30531]: CANopen NMT state changed to: "pre-operational" (127)
  ./canopend[30531]: CANopen Emergency message from node 0x01: errorCode=0x5000, errorRegister=0x01, errorBit=0x2F, infoCode=0x00000004
  set node 4
  [0] OK
  preop                                          #preoperational mode
  [0] OK
  w 0x1802 1 u32 0x80000000
  [0] OK
  w 0x1A02 0 u8 0
  [0] OK
  w 0x1A02 1 u32 0x21100120
  [0] OK
  w 0x1A02 0 u8 1
  [0] OK
  w 0x1802 1 u32 0x00000384
  [0] OK
  w 0x1802 5 u16 500                   #start imer every 500ms
  [0] OK
  start                                            #transition to operational mode
  [0] OK

• candump

  candump can0
  can0  704   [1]  00
  can0  084   [8]  00 50 01 2F 24 00 00 00
  can0  701   [1]  00
  can0  081   [8]  00 50 01 2F 04 00 00 00
  can0  000   [2]  80 04
  can0  604   [8]  23 02 18 01 00 00 00 80
  can0  584   [8]  60 02 18 01 00 00 00 00
  can0  604   [8]  2F 02 1A 00 00 00 00 00
  can0  584   [8]  60 02 1A 00 00 00 00 00
  can0  604   [8]  23 02 1A 01 20 01 10 21
  can0  584   [8]  60 02 1A 01 00 00 00 00
  can0  604   [8]  2F 02 1A 00 01 00 00 00
  can0  584   [8]  60 02 1A 00 00 00 00 00
  can0  604   [8]  23 02 18 01 84 03 00 00
  can0  584   [8]  60 02 18 01 00 00 00 00
  can0  604   [8]  2B 02 18 05 F4 01 00 00
  can0  584   [8]  60 02 18 05 00 00 00 00
  can0  000   [2]  01 04

  Please note that there are no PDOs captured by candump. There should be 384 PDOs.

Is there any missing step to start the production of PDOs? Am I doing something incorrectly?

[sumitbilam]

Hello @MatejBartosovic,

your devices needs to go into operational state first.

Run your demodevice with some id lets say 4 and do this (I am using cocomm utility): cocomm "1 w 0x1011 1 vs load" cocomm "4 w 0x1011 1 vs load" cocomm "0 reset node"

re-run them now

thanks,