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orocos / soem

ROS package wrapping the Simple Open EtherCAT Master (SOEM) from https://github.com/OpenEtherCATsociety/SOEM
http://wiki.ros.org/soem
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Configure new EtherCAT-Device with ROS #14

Closed schwarzp93 closed 5 years ago

schwarzp93 commented 6 years ago

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

mgruhler commented 5 years ago

hello @schwarzp93

as this is only a wrapper to provide soem as a debian package withing the ROS build system, I'm not sure how much I'll be able to help.

There is a "tutorial" (sort of) on the official soem homepage here.

The attachements don't work, so I cannot really help more...

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