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synapticon / Etherlab_EtherCAT_Master

Clone of IgH EtherCAT Master with additional Vectioneer patches.
GNU Lesser General Public License v2.1
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why igh master can not controll the servo motor? #16

Closed liuzq71 closed 5 years ago

liuzq71 commented 5 years ago

the code below can not controll the INOVANCE IS620N and panasonic Minas A6B,can someone help me?

/*****

include

include

include

include

include <sys/resource.h>

include <sys/time.h>

include <sys/types.h>

include

include <sys/mman.h>

/****/

include "ecrt.h"

/****/

define SERVO_STAT_SWION_DIS 0x250 /switched on disabled/

define SERVO_STAT_RDY_SWION 0x231 /ready to switch on/

define SERVO_STAT_SWION_ENA 0x233 /switch on enabled/

define SERVO_STAT_OP_ENA 0x237 /operation enable/

define SERVO_STAT_ERROR 0x218 /error/

/Application Parameters/

define TASK_FREQUENCY 100 /Hz/

define TIMOUT_CLEAR_ERROR (1TASK_FREQUENCY) /clearing error timeout*/

define TARGET_VELOCITY 10241024 //8388608 /target velocity*/

define PROFILE_VELOCITY 3 /Operation mode for 0x6060:0/

/*****/

/EtherCAT/ static ec_master_t *master = NULL; static ec_master_state_t master_state = {};

static ec_domain_t *domain1 = NULL; static ec_domain_state_t domain1_state = {};

static ec_slave_config_t *sc_IS620N; static ec_slave_config_state_t sc_IS620N_state = {};

/****/

/Process Data/ static uint8_t *domain1_pd = NULL;

define IS620NSlavePos 0,0 /EtherCAT address on the bus/

define INOVANCE_IS620N 0x00100000, 0x000C0108 /IS620N Vendor ID, product code/

/x86_64: char-1byte,int-4bytes,long-8bytes/ struct IS620N_offset { //RxPDO unsigned int control_word; //0x6040:控制字,subindex:0,bitlen:16 unsigned int target_position;//0x607A:目标位置,subindex:0,bitlen:32 unsigned int touch_probe; //0x60B8:探针,subindex:0,bitlen:16 unsigned int pysical_outputs;//0x60FE:pysical_outputs,subindex:1,bitlen:32 unsigned int target_velocity;//0x60FF:target_velocity,subindex:0,bitlen:32 unsigned int target_torque;//0x6071:int target_torque,subindex:0,bitlen:16 unsigned int modes_operation;//0x6060:Modes of operation,subindex:0,bitlen:8 unsigned int max_profile_velocity;//0x607F:max_profile_velocity,subindex:0,bitlen:32 unsigned int positive_torque_limit_value;//0x60E0:positive_torque_limit_value,subindex:0,bitlen:16 unsigned int negative_torque_limit_value;//0x60E1:negaitive_torque_limit_value,subindex:0,bitlen:16 unsigned int torque_offset;//0x60B2:torque offset,subindex:0,bitlen:16

//TxPDo unsigned int status_word;//0x6041:status_word,subindex:0,bitlen:16 unsigned int position_actual_value;//0x6064:position_actual_value,subindex:0,bitlen:32 unsigned int touch_probe_status;//0x60B9,subindex:0,bitlen:16 unsigned int touch_probe_pos1_pos_value;//0x60BA,subindex:0,bitlen:32 unsigned int touch_probe_pos2_pos_value;//0x60BC ,subindex:0,bitlen:32 unsigned int error_code;//0x603F,subindex:0,bitlen:16 unsigned int digital_inputs;//0x60FD,subindex:0,bitlen:32 unsigned int torque_actual_value;//0x6077,subindex:0,bitlen:16 unsigned int following_error_actual_value;//0x60F4,subindex:0,bitlen:32 unsigned int modes_of_operation_display;//0x6061,subindex:0,bitlen:8 unsigned int velocity_actual_value;//0x606C,subindex:0,bitlen:32 };

static struct IS620N_offset offset;

const static ec_pdo_entry_reg_t domain1_regs[] = { //RxPDO {IS620NSlavePos, INOVANCE_IS620N, 0x6040, 0, &offset.control_word}, {IS620NSlavePos, INOVANCE_IS620N, 0x607A, 0, &offset.target_position}, {IS620NSlavePos, INOVANCE_IS620N, 0x60FF, 0, &offset.target_velocity}, {IS620NSlavePos, INOVANCE_IS620N, 0x6071, 0, &offset.target_torque}, {IS620NSlavePos, INOVANCE_IS620N, 0x6060, 0, &offset.modes_operation}, {IS620NSlavePos, INOVANCE_IS620N, 0x60B8, 0, &offset.touch_probe}, {IS620NSlavePos, INOVANCE_IS620N, 0x607F, 0, &offset.max_profile_velocity}, //TxPDO {IS620NSlavePos, INOVANCE_IS620N, 0x603F, 0, &offset.error_code}, {IS620NSlavePos, INOVANCE_IS620N, 0x6041, 0, &offset.status_word}, {IS620NSlavePos, INOVANCE_IS620N, 0x6064, 0, &offset.position_actual_value}, {IS620NSlavePos, INOVANCE_IS620N, 0x6077, 0, &offset.torque_actual_value}, {IS620NSlavePos, INOVANCE_IS620N, 0x6061, 0, &offset.modes_of_operation_display}, {IS620NSlavePos, INOVANCE_IS620N, 0x60B9, 0, &offset.touch_probe_status}, {IS620NSlavePos, INOVANCE_IS620N, 0x60BA, 0, &offset.touch_probe_pos1_pos_value}, {IS620NSlavePos, INOVANCE_IS620N, 0x60BC, 0, &offset.touch_probe_pos2_pos_value}, {IS620NSlavePos, INOVANCE_IS620N, 0x60FD, 0, &offset.digital_inputs}, {} };

static unsigned int counter = 0; //static int state = -500;

/重新映射PDO才需要定义下面这3个数组,如果使用servo的固定映射则不需要/ /Config PDOs/ static ec_pdo_entry_info_t IS620N_pdo_entries[] = { //RxPdo 0x1702 {0x6040, 0x00, 16}, {0x607A, 0x00, 32}, {0x60FF, 0x00, 32}, {0x6071, 0x00, 16}, {0x6060, 0x00, 8}, {0x60B8, 0x00, 16}, {0x607F, 0x00, 32}, //TxPdo 0x1B02 {0x603F, 0x00, 16}, {0x6041, 0x00, 16}, {0x6064, 0x00, 32}, {0x6077, 0x00, 16}, {0x6061, 0x00, 8}, {0x60B9, 0x00, 16}, {0x60BA, 0x00, 32}, {0x60BC, 0x00, 32}, {0x60FD, 0x00, 32}, };

static ec_pdo_info_t IS620N_pdos[] = { //RxPdo //{0x1600, 3, IS620N_pdo_entries + 0 }, {0x1600, 7, IS620N_pdo_entries + 0 }, //TxPdo //{0x1A00, 8, IS620N_pdo_entries + 3 } {0x1A00, 9, IS620N_pdo_entries + 7 } };

static ec_sync_info_t IS620N_syncs[] = { { 0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE }, { 1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE }, { 2, EC_DIR_OUTPUT, 1, IS620N_pdos + 0, EC_WD_DISABLE }, { 3, EC_DIR_INPUT, 1, IS620N_pdos + 1, EC_WD_DISABLE }, { 0xFF} };

/*****/

void check_domain1_state(void) { ec_domain_state_t ds; ecrt_domain_state(domain1, &ds); if (ds.working_counter != domain1_state.working_counter) printf("Domain1: WC %u.\n", ds.working_counter);

if (ds.wc_state != domain1_state.wc_state)
   printf("Domain1: State %u.\n", ds.wc_state);

domain1_state = ds;

}

void check_master_state(void) { ec_master_state_t ms; ecrt_master_state(master, &ms); if (ms.slaves_responding != master_state.slaves_responding) printf("%u slave(s).\n", ms.slaves_responding);

if (ms.al_states != master_state.al_states)
   printf("AL states: 0x%02X.\n", ms.al_states);

if (ms.link_up != master_state.link_up)
   printf("Link is %s.\n", ms.link_up ? "up" : "down");

master_state = ms;

}

/*****/

void check_slave_config_states(void) { ec_slave_config_state_t s; ecrt_slave_config_state(sc_IS620N, &s); if (s.al_state != sc_IS620N_state.al_state) printf("IS620N: State 0x%02X.\n", s.al_state);

if (s.online != sc_IS620N_state.online)
   printf("IS620N: %s.\n", s.online ? "online" : "offline");

if (s.operational != sc_IS620N_state.operational)
   printf("IS620N: %soperational.\n", s.operational ? "" : "Not ");

sc_IS620N_state = s;

}

/***/

void cyclic_task() { static unsigned int timeout_error = 0; static uint16_t status_mask=0x004F; static int32_t target_velocity = TARGET_VELOCITY;

uint16_t    status;
int8_t      opmode;
int32_t     current_velocity;
//int32_t     command_value;

/*Receive process data*/
ecrt_master_receive(master);
ecrt_domain_process(domain1);
/*Check process data state(optional)*/
check_domain1_state();

counter = TASK_FREQUENCY;
//Check for master state
check_master_state();
//Check for slave configuration state(s)
check_slave_config_states();
/*Read inputs*/

status = EC_READ_U16(domain1_pd + offset.status_word);
opmode = EC_READ_U8(domain1_pd + offset.modes_of_operation_display);
current_velocity = EC_READ_S32(domain1_pd + offset.velocity_actual_value);

/*if((status & 0x4F) == 0x00) {
            printf("status:%d\n",status);//statusWord = SANYO_NOT_READY_TO_SWITCH_ON;
}
else if((status & 0x4F) == 0x08) {
            printf("status:%d\n",status);//statusWord =  SANYO_FAULT;
}
else if((status & 0x4F) == 0x40) {
            printf("status:%d\n",status);//statusWord =  SANYO_SWITCH_ON_DISABLED;
}
else if((status & 0x6F) == 0x27) {
            printf("status:%d\n",status);//statusWord =  SANYO_OPERATION_ENABLED;
}
else if((status & 0x6F) == 0x23) {
            printf("status:%d\n",status);//statusWord =  SANYO_SWITCH_ON_ENABLED;
}
else if((status & 0x6F) == 0x21) {
            printf("status:%d\n",status);//statusWord =  SANYO_READY_TO_SWITCH_ON;
}
else if((status & 0x6F) == 0x07) {
            printf("status:%d\n",status);//statusWord =  SANYO_QUICK_STOP_ACTIVE;
}
else if((status & 0x4F) == 0x0F) {
            printf("status:%d\n",status);//statusWord =  SANYO_FAULT_REACTION_ACTIVE;
}
else {
            printf("i status:%d\n",status);//return 0xFFFF;
}*/

/*EC_WRITE_U16(domain1_pd + offset.control_word, 0x0006);
EC_WRITE_S8(domain1_pd + offset.modes_operation, PROFILE_VELOCITY);
EC_WRITE_U16(domain1_pd + offset.control_word, 0x0007);//接通主回路电
EC_WRITE_U16(domain1_pd + offset.control_word, 0x000f);//伺服运转
EC_WRITE_S32(domain1_pd + offset.target_velocity, target_velocity);
EC_WRITE_U16(domain1_pd + offset.control_word, 0x001f);//伺服运行*/

//DS402 CANOpen over EtherCAT status machine
if((status & status_mask)==0x0040) //status must equal to SERVO_STAT_SWION_DIS
{
    EC_WRITE_U16(domain1_pd + offset.control_word, 0x0006 );
    EC_WRITE_S8(domain1_pd + offset.modes_operation, PROFILE_VELOCITY);
    status_mask=0x6f;
    printf("status:0x%x\n",status);
}
else if((status & status_mask) == 0x0021) //status must equal to SERVO_STAT_RDY_SWION
{
    EC_WRITE_U16(domain1_pd + offset.control_word, 0x0007 );
    status_mask=0x6f;
    printf("status:0x%x\n",status);
}
else if((status & status_mask) == 0x0023) //status must equal to SERVO_STAT_SWION_ENA
{
    EC_WRITE_U16(domain1_pd + offset.control_word, 0x000f );
    EC_WRITE_S32(domain1_pd + offset.target_velocity, target_velocity);
    status_mask=0x6f;
    printf("status:0x%x\n",status);
}
//operation enabled
else if((status & status_mask) ==0x0027) //status must equal to SERVO_STAT_OP_ENA
{
    EC_WRITE_U16(domain1_pd + offset.control_word, 0x001f);
    printf("status:0x%x\n",status);
}

/*Send process data*/
ecrt_domain_queue(domain1);
ecrt_master_send(master);

}

/****/

int main(int argc, char **argv) { master = ecrt_request_master(0); if (!master) exit(EXIT_FAILURE);

domain1 = ecrt_master_create_domain(master);
if (!domain1)
   exit(EXIT_FAILURE);

if (!(sc_IS620N = ecrt_master_slave_config(master, IS620NSlavePos, INOVANCE_IS620N)))
{
    fprintf(stderr, "Failed to get slave configuration for IS620N!\n");
    exit(EXIT_FAILURE);
}

/*设置0x1702为RPDO*/
/*if(ecrt_slave_config_sdo8(sc_IS620N,0x1c12,0,0)) printf("failed to configure slave sdo 0x1c12-00:0x00!\n");
if(ecrt_slave_config_sdo16(sc_IS620N,0x1c12,1,0x1702)) printf("failed to configure slave sdo 0x1c12-01:0x1702!\n");
if(ecrt_slave_config_sdo8(sc_IS620N,0x1c12,0,0x01)) printf("failed to configure slave sdo 0x1c12-00:0x01!\n");*/

/*设置0x1B02为TPDO*/
/*if(ecrt_slave_config_sdo8(sc_IS620N,0x1c13,0,0)) printf("failed to configure slave sdo 0x1c13-00:0x00!\n");
if(ecrt_slave_config_sdo16(sc_IS620N,0x1c13,1,0x1B02)) printf("failed to configure slave sdo 0x1c13-01:0x1B02!\n");
if(ecrt_slave_config_sdo8(sc_IS620N,0x1c13,0,0x01)) printf("failed to configure slave sdo 0x1c13-00:0x01!\n");*/

// printf("alias=%d,vid=%d,watchdog_divider=%d",sc_IS620N->alias,sc_IS620N->position,sc_IS620N->watchdog_divider);

printf("Configuring PDOs...\n");
/*重新映射PDO才需要运行ecrt_slave_config_pdos(),如果使用servo的固定映射则不需要*/
if (ecrt_slave_config_pdos(sc_IS620N, EC_END, IS620N_syncs)) 
{
    fprintf(stderr, "Failed to configure IS620N PDOs!\n");
    exit(EXIT_FAILURE);
}

if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) 
{
    fprintf(stderr, "PDO entry registration failed!\n");
    exit(EXIT_FAILURE);
}

printf("Activating master...\n");
if (ecrt_master_activate(master))
    exit(EXIT_FAILURE);
else
   printf("Master activated\n");

if (!(domain1_pd = ecrt_domain_data(domain1)))
    exit(EXIT_FAILURE);

printf("It's working now...\n");

/*if(ecrt_slave_config_sdo8(sc_IS620N,0x6060,0,8)) 
    printf("fail to configure slave sdo velocity mode!\n");*/

/*EC_WRITE_U16(domain1_pd + offset.control_word, 0x0006);
EC_WRITE_S8(domain1_pd + offset.modes_operation, PROFILE_VELOCITY);
EC_WRITE_U16(domain1_pd + offset.control_word, 0x0007);//接通主回路电
EC_WRITE_U16(domain1_pd + offset.control_word, 0x000f);//伺服运转
EC_WRITE_S32(domain1_pd + offset.target_velocity, TARGET_VELOCITY);
EC_WRITE_U16(domain1_pd + offset.control_word, 0x001f);//伺服运行*/

/if(ecrt_slave_config_sdo32(sc_IS620N,0x60FF,0,TARGET_VELOCITY)) printf("fail to configure slave sdo 0x60FF!\n"); if(ecrt_slave_config_sdo16(sc_IS620N,0x6040,0,0x6)) printf("fail to configure slave sdo 0x6040!\n"); if(ecrt_slave_config_sdo16(sc_IS620N,0x6040,0,0x7)) printf("fail to configure slave sdo 0x6040!\n"); if(ecrt_slave_config_sdo16(sc_IS620N,0x6040,0,0xf)) printf("fail to configure slave sdo 0x6040!\n");/

while (1) 
{
    usleep(100000/TASK_FREQUENCY);
    cyclic_task();
}
ecrt_master_deactivate(master);
return EXIT_SUCCESS;

}

fjes commented 5 years ago

For these kind of questions please use the Etherlab mailing list http://lists.etherlab.org/mailman/listinfo/etherlab-users there are many people who can help you with your problem.

bg, Frank