EtherCAT driver for a 6 axis robot

ftree
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4 years 5 months ago - 4 years 5 months ago #242513 by ftree

Replied by ftree on topic EtherCAT driver for a 6 axis robot

An excerpt from the EtherCAT xml.

Code:

              
<RxPdo Fixed="true" Mandatory="true" Sm="2">
                    <Index>#x1600</Index>
                    <Name>Robot Control</Name>
                    <Entry>
                        <Index>#x7200</Index>
                        <SubIndex>1</SubIndex>
                        <BitLen>1</BitLen>
                        <Name>Deactivate</Name>
                        <DataType>BOOL</DataType>
                    </Entry>
                    <Entry>
                        <Index>#x7200</Index>
                        <SubIndex>2</SubIndex>
                        <BitLen>1</BitLen>
                        <Name>Activate</Name>
                        <DataType>BOOL</DataType>
                    </Entry>
                    <Entry>
                        <Index>#x7200</Index>
                        <SubIndex>3</SubIndex>
                        <BitLen>1</BitLen>
                        <Name>Home</Name>
                        <DataType>BOOL</DataType>
                    </Entry>
                    <Entry>
                        <Index>#x7200</Index>
                        <SubIndex>4</SubIndex>
                        <BitLen>1</BitLen>
                        <Name>Reset Error</Name>
                        <DataType>BOOL</DataType>
                    </Entry>
                    <Entry>
                        <Index>#x7200</Index>
                        <SubIndex>5</SubIndex>
                        <BitLen>1</BitLen>
                        <Name>Sim Mode</Name>
                        <DataType>BOOL</DataType>
                    </Entry>
                    <Entry>
                        <Index>#x7200</Index>
                        <SubIndex>6</SubIndex>
                        <BitLen>1</BitLen>
                        <Name>Recovery Mode</Name>
                        <DataType>BOOL</DataType>
                    </Entry>
                    <Entry>
                        <Index>#x0</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>26</BitLen>
                    </Entry>
                </RxPdo>

I am looking at the single bit pdo settings. The above appears to be padded by 26 bits. What is best practice for the above? Something like this?

Code:

<syncManager idx="2" dir="out" />
      <pdo idx="1600">
    <pdoEntry idx="7200" subIdx="00" bitLen="32" halType="Complex">
        <complexEntry bitLen="1" halPin="robot.ctrl.deactivate" halType="bit" />
        <complexEntry bitLen="1" halPin="robot.ctrl.activate" halType="bit" />
        <complexEntry bitLen="1" halPin="robot.ctrl.home" halType="bit" />
        <complexEntry bitLen="1" halPin="robot.ctrl.reset-errror" halType="bit" />
        <complexEntry bitLen="1" halPin="robot.ctrl.sim-mode" halType="bit" />
        <complexEntry bitLen="1" halPin="robot.ctrl.recovery-mode" halType="bit" />
         <complexEntry bitLen="26" />
   </pdoEntry>

Last edit: 4 years 5 months ago by ftree.

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TheRoslyak
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4 years 5 months ago #242515 by TheRoslyak

Replied by TheRoslyak on topic EtherCAT driver for a 6 axis robot

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ftree
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4 years 5 months ago - 4 years 5 months ago #242516 by ftree

Replied by ftree on topic EtherCAT driver for a 6 axis robot

Thanks! Rx PDOs wip. Weaving my way though documentation. Reading up about halTypes.

Code:

<syncManager idx="2" dir="out" />

<pdo idx="1600">
   <pdoEntry idx="7200" subIdx="01" bitLen="1" halPin="robot.ctrl.deactivate" halType="bit" />
    <pdoEntry idx="7200" subIdx="02" bitLen="1" halPin="robot.ctrl.activate" halType="bit" />
    <pdoEntry idx="7200" subIdx="03" bitLen="1" halPin="robot.ctrl.home" halType="bit" />
    <pdoEntry idx="7200" subIdx="04" bitLen="1" halPin="robot.ctrl.reset-errror" halType="bit" />
    <pdoEntry idx="7200" subIdx="05" bitLen="1" halPin="robot.ctrl.sim-mode" halType="bit" />
    <pdoEntry idx="7200" subIdx="06" bitLen="1" halPin="robot.ctrl.recovery-mode" halType="bit" />
  </pdo>

  <pdo idx="1601">
    <pdoEntry idx="7310" subIdx="01" bitLen="16" halPin="robot.motion.id" halType="u16"/>
    <pdoEntry idx="7310" subIdx="02" bitLen="1"  halPin="robot.motion.set-point" halType="bit"/>
    <pdoEntry idx="7310" subIdx="03" bitLen="1"  halPin="robot.motion.pause" halType="bit"/>
    <pdoEntry idx="7310" subIdx="04" bitLen="1"  halPin="robot.motion.clear" halType="bit"/>
    <pdoEntry idx="7310" subIdx="05" bitLen="1"  halPin="robot.motion.reset-pstop" halType="bit"/>
  </pdo>

  <pdo idx="1602">
    <pdoEntry idx="7305" subIdx="00" bitLen="32" halPin="robot.move.cmd" halType="u32"/>
    <pdoEntry idx="7306" subIdx="01" bitLen="32" halPin="robot.move.001" halType="complex"/>
    <pdoEntry idx="7306" subIdx="02" bitLen="32" halPin="robot.move.002" halType="complex"/>
    <pdoEntry idx="7306" subIdx="03" bitLen="32" halPin="robot.move.003" halType="complex"/>
    <pdoEntry idx="7306" subIdx="04" bitLen="32" halPin="robot.move.004" halType="complex"/>
    <pdoEntry idx="7306" subIdx="05" bitLen="32" halPin="robot.move.005" halType="complex"/>
   <pdoEntry idx="7306" subIdx="06" bitLen="32" halPin="robot.move.006" halType="complex"/>
  </pdo>

  <pdo idx="1610">
    <pdoEntry idx="7400" subIdx="00" bitLen="32" halPin="robot.brakes.allowed" halType="u32" />
  </pdo>

  <pdo idx="1611">
   <pdoEntry idx="7410" subIdx="01" bitLen="1" halPin="robot.brakes.ctrl-allowed" halType="bit" />
    <pdoEntry idx="7410" subIdx="02" bitLen="1" halPin="robot.brakes.engaged" halType="bit" />
  </pdo>

  <pdo idx="1620">
    <pdoEntry idx="0000" subIdx="00" bitLen="32" halPin="robot.dynamic-data.cfg0" halType="u32" />
  </pdo>

   <pdo idx="1621">
     <pdoEntry idx="0000" subIdx="00" bitLen="32" halPin="robot.dynamic-data.cfg1" halType="u32" />
  </pdo>

   <pdo idx="1622"
     <pdoEntry idx="0000" subIdx="00" bitLen="32" halPin="robot.dynamic-data.cfg2" halType="u32" />
   </pdo>

   <pdo idx="1623">
     <pdoEntry idx="0000" subIdx="00" bitLen="32" halPin="robot.dynamic-data.cfg3" halType="u32" />
  </pdo>
  </syncManager>
 

Last edit: 4 years 5 months ago by ftree.

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rodw
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4 years 5 months ago #242521 by rodw

Replied by rodw on topic EtherCAT driver for a 6 axis robot

I could not find a specific reference to it but I think the Linuxcnc motmod (motion module) is now user definable in master branch (as of recently)
Also the interpreter is modular but nobody has ever written an alternative to G code.

So it could be possible to write a new language to control your robot and convert that language to ethercat motion primitives.
But it would be a big task...

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db1981
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4 years 5 months ago #242522 by db1981

Replied by db1981 on topic EtherCAT driver for a 6 axis robot

oh, i have not seen the cyclic modes.
If they realy work cyclic without the motion que thing, then velocity control with joint pos feedback will work...

Kinematics, singularys etc. are another chapter.....

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ftree
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4 years 5 months ago - 4 years 5 months ago #242523 by ftree

Replied by ftree on topic EtherCAT driver for a 6 axis robot

"If they realy work cyclic without the motion que thing, then velocity control with joint pos feedback will work..."

That's what I'm hoping. Reading the "JointSet" encoder positions should make this possible. See TxPdo 1A02, x6030, 1 to 6.

Last edit: 4 years 5 months ago by ftree.

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