Ethercat CSV mode ?
03 Oct 2023 09:35 #282145
by akg1904
Ethercat CSV mode ? was created by akg1904
Hi,
I was doing some experiment with ethercat, as I was trying to run my servo drive using CSV mode instead of CSP mode but I didn't succeed.
If somebody have any idea or example of CSV mode in Ethercat can you please share it with me.
Regards
Abhishek
I was doing some experiment with ethercat, as I was trying to run my servo drive using CSV mode instead of CSP mode but I didn't succeed.
If somebody have any idea or example of CSV mode in Ethercat can you please share it with me.
Regards
Abhishek
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04 Oct 2023 21:22 - 04 Oct 2023 21:27 #282318
by bkt
Replied by bkt on topic Ethercat CSV mode ?
github.com/sittner/linuxcnc-ethercat/blo...ex/ethercat-conf.xml
instead 1600 and 1A00 use 1602 and 1A02 with necessary register 640 641 etc etc ....
example:
instead 1600 and 1A00 use 1602 and 1A02 with necessary register 640 641 etc etc ....
example:
<master idx="0" appTimePeriod="2000000" refClockSyncCycles="1">
<slave idx="0" type="generic" vid="0000003B" pid="38079D3D" configPdos="true">
<sdoConfig idx="6060" subIdx="0">
<sdoDataRaw data="08"/>
</sdoConfig>
<syncManager idx="0" dir="out"> </syncManager>
<syncManager idx="1" dir="in"> </syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1602">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="ControlWord" halType="bit"/>
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="TargetPosition" halType="s32"/>
<pdoEntry idx="60xx" subIdx="00" bitLen="8" halPin="vel" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a02">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="StatusWord" halType="bit"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="ActualPosition" halType="s32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="ModeOfOperationDisplay" halType="s32"/>
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="2000"/>
<watchdog divider="2498" intervals="1000"/>
</slave>
</master>
Last edit: 04 Oct 2023 21:27 by bkt.
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05 Oct 2023 13:08 #282361
by akg1904
Replied by akg1904 on topic Ethercat CSV mode ?
Hi bkt,
Thanks for the reply,
I did the changes what you suggested, but still I got an error:
" parameter or pin 'cia402.5.csv-mode' not found"
Is there any other changes I need to make for example in HAL file etc.
I have attached my XML and HAL file.
Regards
Abhishek
Thanks for the reply,
I did the changes what you suggested, but still I got an error:
" parameter or pin 'cia402.5.csv-mode' not found"
Is there any other changes I need to make for example in HAL file etc.
I have attached my XML and HAL file.
Regards
Abhishek
Attachments:
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05 Oct 2023 16:34 #282378
by bkt
or you have modify your hal file before post?
Any how DC sinc row goes at end ..... here an example of one slave:
in red the important things in right order (syncoshift can be less) .... 6060 register decide for pdos mode usually .... in these case 08 value .... in your case think 06 .... but need to check not sure. Syncmanager row is necessary for IN and OUT think because LWR way to comunicate with master .... plus 1602 and 1A02 PDOs have certain type of register to use ....inserting fewer registers than is the cia402 convention could make your devices "mute", and the same is true when inserting more registers than is the convention. These are things to be tested, it is not the law. However if you follow the cia402 convention and your slaves you will also have no problems.
Now check manuals of your slaves and check cia402 register (SDOs and PDOs) management. If these convention (cia402) is respect, use one slaves or an other brand is quite the same. Problem become from devices that non have these standards (but the ethercat wizards who hang out here on the forum don't find problems anywhere, especially when they know their animals very well).
regards
Replied by bkt on topic Ethercat CSV mode ?
But in your file there are not cia402.5 pin ... you set max 3 cia402 axis .... and set one only ....so is normal that errorI did the changes what you suggested, but still I got an error:" parameter or pin 'cia402.5.csv-mode' not found"
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
loadrt cia402 count=3
addf lcec.read-all servo-thread
addf cia402.0.read-all servo-thread
# addf exio.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf cia402.0.write-all servo-thread
addf lcec.write-all servo-threador you have modify your hal file before post?
Any how DC sinc row goes at end ..... here an example of one slave:
<slave idx="1" type="generic" vid="thebest" pid="notso" configPdos="true">
[color=#e74c3c] <sdoConfig idx="6060" subIdx="0"><sdoDataRaw data="08"/></sdoConfig>
<syncManager idx="0" dir="out"></syncManager>
<syncManager idx="1" dir="in"></syncManager>
<syncManager idx="2" dir="out">[/color]
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="axCmd" halType="float"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="posCommand" halType="float" scale="1444.444444444"/>
<pdoEntry idx="60FE" subIdx="00" bitLen="32" halType="complex">
<complexEntry bitLen="1" halPin="out-0" halType="bit"/>
<complexEntry bitLen="1" halPin="out-1" halType="bit"/>
<complexEntry bitLen="1" halPin="out-2" halType="bit"/>
<complexEntry bitLen="1" halPin="out-3" halType="bit"/>
<complexEntry bitLen="28"/>
</pdoEntry>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1A00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="axStat" halType="bit"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="posActual" halType="float" scale="0.000692308"/>
<pdoEntry idx="60FD" subIdx="00" bitLen="32" halType="complex">
<complexEntry bitLen="1" halPin="in-1" halType="bit"/>
<complexEntry bitLen="1" halPin="in-2" halType="bit"/>
<complexEntry bitLen="1" halPin="in-3" halType="bit"/>
<complexEntry bitLen="1" halPin="in-4" halType="bit"/>
<complexEntry bitLen="1" halPin="in-5" halType="bit"/>
<complexEntry bitLen="1" halPin="in-6" halType="bit"/>
<complexEntry bitLen="1" halPin="in-7" halType="bit"/>
<complexEntry bitLen="1" halPin="in-8" halType="bit"/>
<complexEntry bitLen="1" halPin="in-9" halType="bit"/>
<complexEntry bitLen="1" halPin="in-10" halType="bit"/>
<complexEntry bitLen="22"/>
</pdoEntry>
<pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="errorStat" halType="float"/>
<pdoEntry idx="2241" subIdx="00" bitLen="32" halPin="encDiff" halType="float"/>
</pdo>
</syncManager>
[color=#e74c3c]<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="500000"/>[/color]
</slave>
in red the important things in right order (syncoshift can be less) .... 6060 register decide for pdos mode usually .... in these case 08 value .... in your case think 06 .... but need to check not sure. Syncmanager row is necessary for IN and OUT think because LWR way to comunicate with master .... plus 1602 and 1A02 PDOs have certain type of register to use ....inserting fewer registers than is the cia402 convention could make your devices "mute", and the same is true when inserting more registers than is the convention. These are things to be tested, it is not the law. However if you follow the cia402 convention and your slaves you will also have no problems.
Now check manuals of your slaves and check cia402 register (SDOs and PDOs) management. If these convention (cia402) is respect, use one slaves or an other brand is quite the same. Problem become from devices that non have these standards (but the ethercat wizards who hang out here on the forum don't find problems anywhere, especially when they know their animals very well).
regards
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05 Oct 2023 16:40 - 05 Oct 2023 16:51 #282379
by bkt
Replied by bkt on topic Ethercat CSV mode ?
an other example with 1601 and 1a01 (in these case some extra SDOs need to set at upload, maybe for you too):
register 6060 set:[/code]
so you must change these row[/code]
for CSP[/code]
for CSV
before reading the manual ....
[code] <slave idx="3" type="generic" vid="000007DD" pid="01" configPdos="true">
<sdoConfig idx="6060" subIdx="0"><sdoDataRaw data="08"/></sdoConfig>
<sdoConfig idx="60C2" subIdx="1"><sdoDataRaw data="01"/></sdoConfig>
<sdoConfig idx="60C2" subIdx="2"><sdoDataRaw data="FD"/></sdoConfig>
<sdoConfig idx="607E" subIdx="0"><sdoDataRaw data="E0"/></sdoConfig>
<syncManager idx="0" dir="out"></syncManager>
<syncManager idx="1" dir="in"></syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1601">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="driverControl" halType="bit"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="posCommand" halType="float" scale="25437,5"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1A01">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="driverStatus" halType="bit"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="posActual" halType="float" scale="0.000039312"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="velActual" halType="float" scale="1"/>
<pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="Error" halType="bit"/>
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000" sync1Cycle="0" sync1Shift="0"/>
<watchdog divider="2048" intervals="1000"/>
</slave>register 6060 set:[/code]
- 01 -> profile position mode
- 03 -> profile velocity mode
- 04 -> profile torque mode
- 06 -> homing mode
- 07 -> interpolated position mode
- 08 -> CSP
- 09 -> CSV
- 0A -> CST
so you must change these row
[code]<sdoConfig idx="6060" subIdx="0"><sdoDataRaw data="08"/></sdoConfig>for CSP
[code]<sdoConfig idx="6060" subIdx="0"><sdoDataRaw data="09"/></sdoConfig>for CSV
before reading the manual ....
Last edit: 05 Oct 2023 16:51 by bkt.
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08 Dec 2023 13:41 #287533
by onceloved
Replied by onceloved on topic Ethercat CSV mode ?
setp cia402.0.csp-mode 1 defaults to csp mode. If you want to use csv mode, change it to 0 instead of setp cia402.0.csv-mode 1
github.com/dbraun1981/hal-cia402
github.com/dbraun1981/hal-cia402
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