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leggedrobotics / elmo_ethercat_sdk

GNU General Public License v3.0
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When using SOEM to control ELMO Gold series Drive, the elmo will switch to switch-on-disabled state sometimes #11

Closed crown133 closed 2 months ago

crown133 commented 4 months ago

Background: I'm trying to use this pakage to control the elmo gold twitter.

Issues: When using SOEM to control elmo drive, the elmo can be initialized to operation-enabled state successfully and worked well, but it will switch to switch-on-disabled state sometimes aspecially when there are other threads running simultaneously.

I want to know why the elmo switched from operation-enabled state to switch-on-disabled state automatically even I didn't change the 'controword'. And also why the thread priority or other reasons will cause this problem?

I'll be appreciate it if you can give me some advice.

HDH666 commented 2 months ago

How did you solve this issue? I'm encountering the same problem. I'm using the ament_cmake branch.

crown133 commented 2 months ago

How did you solve this issue? I'm encountering the same problem. I'm using the ament_cmake branch. I have replaced the original computer with a customed industrial pc, patched a linux RT kernel and changed some settings in bios. Everything worked reliably in new system while the cycle time was set to be 1ms.