Configure new EtherCAT-Device with ROS

[schwarzp93]

Hello all :)

first of all, I'm sorry, if my question might be silly or trivial, but I'm pretty new to the world of EtherCAT.

I'm trying to controll a Festo CPX-FB37 bus node (https://www.festo.com/net/SupportPortal/Files/344605/CPX-FB37_2014-06_8029675g1.pdf) via ros, using SOEM.

I'm already having problems, when using the simple_test or slaveinfo. In both cases, the following error gets displayed: Not all slaves reached safe operational state. Slave 1 State=12 StatusCode= 1e : Invalid input configuration

Is there a kind of tutorial on how to start with SOEM? How can I connect new devices, which steps are done automatically, which have to be done manually?

Thanks a lot in advance,

Philipp

Attached you find the outputs of simple_test and slaveinfo. simpleTest_Output.txt slaveinfo_Output.txt

[carlosjoserg]

I don't know about your question, but since you mention via ROS and you are new to the world of EtherCAT (like me too ;) ), be aware that the soem library distributed as ros-distro-soem is not the one coming from this repository.

The one distributed within the ROS repositories is: https://github.com/smits/soem (see also the ros wiki: http://wiki.ros.org/soem for more info about it)

Though the APIs are similar (I have code compiling with both libraries), they are not the same maintainers, I guess both have part of the "original soem c code provided by the Technische Universiteit Eindhoven" as said in the ROS wiki.

[schwarzp93]

Thanks Carlos!

yes, that's also the one I tried to use! I just thought, I should ask the question here too, since it's pretty basic...

[nakarlsson]

Can you please provide a wireshark? You seem to have some issue with CoE communication, hence the PACKET error. Do you have a "less" complex slave to test with? To verify that SOEM actually works on your system.

[schwarzp93]

Thanks nakarlsson!

I will try to submit a wireshark tomorrow... Unfortunately, I don't have another slave. I'm running Ubuntu 16.04 and ROS Kinetic. I downloaded the soem package from https://github.com/smits/soem, since it was the first one, I found. Are there differences between the packages?

[nakarlsson]

I can't say, but for basic functionality such as detect and configure slaves I doubt there are any differences.

[schwarzp93]

Hi :)

here are some wireshark files, I hope, those are the ones you wanted to see and that they are helpful...

wiresharks.zip

[nakarlsson]

You can try to increase the "smits/SOEM" default mailbox size, the CPX-FB37 got bigger mailboxes than

ethercatmain.h " /* max. mailbox size /

define EC_MAXMBX 0x3ff

"

[schwarzp93]

Thanks again :) Unfortunately, I don't have access to the device until probably wednesday. I will keep you updated

[schwarzp93]

It worked! At least kind of :)

I now get the folliwing output:

SOEM (Simple Open EtherCAT Master) Simple test Starting simple test ec_init on enp3s0 succeeded. wkc = 1 1 slaves found and configured. Slaves mapped, state to SAFE_OP. segments : 1 : 46 0 0 0 Request operational state for all slaves Calculated workcounter 3 Operational state reached for all slaves. Processdata cycle 1, WKC 3 , O: 00 00 00 00 00 00 00 00 I: 00 00 00 00 00 00 (The last line repeats itself until Processdata cycle 10000, rest ist always the same) Processdata cycle 10000, WKC 3 , O: 00 00 00 00 00 00 00 00 I: 00 00 00 00 00 00 00 00 T:52476062680 Request init state for all slaves End simple test, close socket End program

Is this a normal behavior?

[nakarlsson]

Looks OK, what does slave info say? O: & I: is IO data, so that depends on what you have mapped. The O you need to set from SOEM code, I is read from the inputs connected, digital IO? Apply some signal and verfiy input.

[schwarzp93]

Hi again, and thank again :)

Here are the results from slavinfo: slaveinfo.txt slaveinfoMAP.txt

Currently, I'm trying to apply signals. is there a prepared "application" in the package, or do I have to write this on my own?

Sorry again for these maybe dumb questions...

[schwarzp93]

I'm using digital and analog IOs, both connected to the same slave

[nakarlsson]

You can check test examples and tutorial, basically how to work with the IOmap. Every slave instance have their ref to the IOmap via ->inputs,->outputs.

[nakarlsson]

I think the main issue is solved