Is ec_slave.output PDO?

[Mark9999999]

If I want to send RxPDO, my programs are following:

  *(ec_slave[0].outputs) = 0xf;
  *(ec_slave[0].outputs+1) = 0xf;
  *(ec_slave[0].outputs+2) = 0xf;
  *(ec_slave[0].outputs+3) = 0xf;
  *(ec_slave[0].outputs+4) = 0xf;
  *(ec_slave[0].outputs+5) = 0xf;
  *(ec_slave[0].outputs+6) = 0xf;
  ec_send_processdata();
  ec_receive_processdata(EC_TIMEOUTRET);

The outputs are RxPDO, map to "0x6040 0x607A 0x60B1 0x60B2 0x60FF 0x6071 0x6060" (The mapping info is from "slaveinfo.c") SM2 outputs addr b index: sub bitl data_type name [0x0000.0] 0x6040:0x00 0x10 UNSIGNED16 Controlword [0x0002.0] 0x607A:0x00 0x20 INTEGER32 Target position [0x0006.0] 0x60B1:0x00 0x20 INTEGER32 Velocity offset [0x000A.0] 0x60B2:0x00 0x10 INTEGER16 Torque offset [0x000C.0] 0x60FF:0x00 0x20 INTEGER32 Target velocity [0x0010.0] 0x6071:0x00 0x10 INTEGER16 Target torque [0x0012.0] 0x6060:0x00 0x08 INTEGER8 Modes of operation [0x0013.0] 0x0000:0x00 0x08 [0x0014.0] 0x0000:0x00 0x00 [0x0014.0] 0x0000:0x00 0x00

But the progams can not work, it can't change the value in my debugging software. wireshark capture the frame is following

[nakarlsson]

Try slave number =1, as in samples

[Mark9999999]

Try slave number =1, as in samples

This still doesn't work, my programs are following, Can you help me check it, thank you very much.

`#include

include <sys/time.h>

include

include "ethercattype.h"

include "nicdrv.h"

include "ethercatbase.h"

include "ethercatmain.h"

include "ethercatdc.h"

include "ethercatcoe.h"

include "ethercatfoe.h"

include "ethercatconfig.h"

include "ethercatprint.h"

char IOmap[4096]; // 使从站进入op状态

void slavetop(int i) { ec_slave[i].state = EC_STATE_OPERATIONAL; ec_send_processdata(); ec_receive_processdata(EC_TIMEOUTRET);

printf("EC_STATE_OPERATIONAL=%d\n", EC_STATE_OPERATIONAL); printf("ec_slave_state=%d\n", ec_slave[i].state); ec_writestate(0); ec_statecheck(0, EC_STATE_OPERATIONAL, 50000);

}

void simpletest(char *ifname) { int i, k = 1000,j=0; int wkc; if(ec_init(ifname)) {
printf("start ethernet at %s\n",ifname); if ( ec_config_init(FALSE) > 0 ) {

     printf("found %d slave on the bus\n",ec_slavecount);
     ec_config_map(&IOmap);

     ec_configdc();

     ec_statecheck(0, EC_STATE_SAFE_OP,  EC_TIMEOUTSTATE * 4);

     for(i=0;i<ec_slavecount;i++)
     {  
        printf("slave%d to op\n", i);
        usleep(1000000);
        slavetop(i);
        printf("i=%d\n", i);
     }  

     usleep(300000);

     if(ec_slave[j].state == EC_STATE_OPERATIONAL)
     {  
        while(k--)//延迟
        {  

           *(ec_slave[0].outputs) = 0xf;
           *(ec_slave[0].outputs+1) = 0xf;
           *(ec_slave[0].outputs+2) = 0xf;
           *(ec_slave[0].outputs+3) = 0xf;
           *(ec_slave[0].outputs+4) = 0xf;
           *(ec_slave[0].outputs+5) = 0xf;
           *(ec_slave[0].outputs+6) = 0xf;
           ec_send_processdata();
           ec_receive_processdata(EC_TIMEOUTRET);

           usleep(1000000);//延迟
        }  
     }  
     else
     {
        slavetop(j);
        printf("slave again to op\n");
     }
  }
  else
  {
     printf("no slave on the bus\n");
  }

} else { printf("no ethernet card\n"); } } int main() { printf("SOEM Start\n"); char argv = (char)"enP3p49s0"; simpletest(argv);

printf("End program\n"); return (0); }`

[nakarlsson]

The Wireshark say Working cnt : 1 , so your drive is probably in SAFEOP.

After you enter OP you sleep 300000, hence you stop sending processdata and the Watchdog will trip. That is not the way you do it, look at the test samples and other forum issues and you should be able to figure out how to do it.