Comments (3)
tom9672
commented on August 16, 2024
BTW, the 'sum of all pdo in an out data' mean the count of pdos or the byte of pdo? and how to get the sum of pdo in an in data.
In the above code, Is the way of disable the tpdos and rpdos right?
from pysoem.
tom9672
commented on August 16, 2024
I have this issue because, I have a motor, it runs well on twincat3, but the status word often changed from 4663 to 568 in while running, as a result it stops.
my whole code of this test:
from turtle import pd
import pysoem
import ctypes
import time
from JASD_PDO_conf import OutputPdo
from JASD_PDO_conf import InputPdo
modes_of_operation = {
'No mode': 0,
'Profile position mode': 1,
'Velocity mode':2,
'Profile velocity mode': 3,
'Homing mode': 6,
'Cyclic synchronous position mode': 8,
'Cyclic synchronous velocity mode': 9,
'Cyclic synchronous torque mode': 10,
}
master = pysoem.Master()
master.open('\\Device\\NPF_{267091CF-E38D-4EED-AAC8-1A0692194D59}')
master.config_init()
dev1 = master.slaves[0]
# dev2 = master.slaves[1]
# dev3 = master.slaves[2]
def convert_input_data(data):
return InputPdo.from_buffer_copy(data)
def dev1_config_func(slave_pos):
dev1.sdo_write(0x6083,0x0,bytes(ctypes.c_uint32(100000)))
dev1.sdo_write(0x6084,0x0,bytes(ctypes.c_uint32(100000)))
# dev1.sdo_write(0x6060,0x0,bytes(ctypes.c_int8(1)))
dev1.sdo_write(0x607F,0x0,bytes(ctypes.c_uint32(500000)))
dev1.sdo_write(0x6080,0x0,bytes(ctypes.c_uint32(3000)))
dev1.sdo_write(0x1601,0x0,bytes(ctypes.c_uint16(0)))
dev1.sdo_write(0x1602,0x0,bytes(ctypes.c_uint16(0)))
dev1.sdo_write(0x1603,0x0,bytes(ctypes.c_uint16(0)))
dev1.sdo_write(0x1A01,0x0,bytes(ctypes.c_uint16(0)))
dev1.sdo_write(0x1A02,0x0,bytes(ctypes.c_uint16(0)))
dev1.sdo_write(0x1A03,0x0,bytes(ctypes.c_uint16(0)))
def dev2_config_func(slave_pos):
dev2.sdo_write(0x6083,0x0,bytes(ctypes.c_uint32(100000)))
dev2.sdo_write(0x6084,0x0,bytes(ctypes.c_uint32(100000)))
# dev1.sdo_write(0x6060,0x0,bytes(ctypes.c_int8(1)))
dev2.sdo_write(0x607F,0x0,bytes(ctypes.c_uint32(500000)))
dev2.sdo_write(0x6080,0x0,bytes(ctypes.c_uint32(3000)))
dev2.sdo_write(0x1601,0x0,bytes(ctypes.c_uint16(0)))
dev2.sdo_write(0x1602,0x0,bytes(ctypes.c_uint16(0)))
dev2.sdo_write(0x1603,0x0,bytes(ctypes.c_uint16(0)))
dev2.sdo_write(0x1A01,0x0,bytes(ctypes.c_uint16(0)))
dev2.sdo_write(0x1A02,0x0,bytes(ctypes.c_uint16(0)))
dev2.sdo_write(0x1A03,0x0,bytes(ctypes.c_uint16(0)))
def dev3_config_func(slave_pos):
dev3.sdo_write(0x6083,0x0,bytes(ctypes.c_uint32(100000)))
dev3.sdo_write(0x6084,0x0,bytes(ctypes.c_uint32(100000)))
# dev1.sdo_write(0x6060,0x0,bytes(ctypes.c_int8(1)))
dev3.sdo_write(0x607F,0x0,bytes(ctypes.c_uint32(500000)))
dev3.sdo_write(0x6080,0x0,bytes(ctypes.c_uint32(3000)))
dev3.sdo_write(0x1601,0x0,bytes(ctypes.c_uint16(0)))
dev3.sdo_write(0x1602,0x0,bytes(ctypes.c_uint16(0)))
dev3.sdo_write(0x1603,0x0,bytes(ctypes.c_uint16(0)))
dev3.sdo_write(0x1A01,0x0,bytes(ctypes.c_uint16(0)))
dev3.sdo_write(0x1A02,0x0,bytes(ctypes.c_uint16(0)))
dev3.sdo_write(0x1A03,0x0,bytes(ctypes.c_uint16(0)))
dev1.config_func = dev1_config_func
# dev2.config_func = dev2_config_func
# dev3.config_func = dev3_config_func
master.config_map()
def pdo_process():
master.send_processdata()
master.receive_processdata(1_000)
time.sleep(0.01)
if master.state_check(pysoem.SAFEOP_STATE, 50_000) == pysoem.SAFEOP_STATE:
master.state = pysoem.OP_STATE
master.send_processdata()
master.receive_processdata(1_000)
master.write_state()
master.state_check(pysoem.OP_STATE, 5_000_000)
if master.state == pysoem.OP_STATE:
output_data = OutputPdo()
# init
output_data.Control_Word = 15
dev1.output = bytes(output_data)
# dev2.output = bytes(output_data)
# dev3.output = bytes(output_data)
pdo_process()
# set mode
output_data.Mode_Operation = 1
dev1.output = bytes(output_data)
# dev2.output = bytes(output_data)
# dev3.output = bytes(output_data)
pdo_process()
else:
print('failed to got to op state')
else:
print('failed to got to safeop state')
def pp_relavite(device,output_data,target_pos,speed):
device.sdo_write(0x6081,0x0, bytes(ctypes.c_uint32(speed)))
output_data.Target_Position = target_pos
device.output = bytes(output_data)
pdo_process()
output_data.Control_Word = 95
device.output = bytes(output_data)
pdo_process()
output_data.Control_Word =79
device.output = bytes(output_data)
pdo_process()
# convert_input_data(device.input).Status_word != 1591
curr_pos = convert_input_data(device.input).actual_position
while convert_input_data(device.input).actual_position not in range(curr_pos+target_pos-100,curr_pos+target_pos+100):
pdo_process()
#print(convert_input_data(device.input).Status_word)
def pp_absolute(device,output_data,target_pos,speed):
device.sdo_write(0x6081,0x0, bytes(ctypes.c_uint32(speed)))
output_data.Target_Position = target_pos
device.output = bytes(output_data)
pdo_process()
output_data.Control_Word = 31
device.output = bytes(output_data)
pdo_process()
output_data.Control_Word = 15
device.output = bytes(output_data)
pdo_process()
# convert_input_data(device.input).Status_word != 1591
while convert_input_data(device.input).actual_position not in range(target_pos-100,target_pos+100):
pdo_process()
#print(convert_input_data(device.input).Status_word)
try:
for i in range(50):
pp_relavite(dev1,output_data,100000,200000)
# pp_relavite(dev2,output_data,100000,200000)
# pp_relavite(dev3,output_data,100000,200000)
pp_absolute(dev1,output_data,0,200000)
# pp_absolute(dev2,output_data,0,200000)
# pp_absolute(dev3,output_data,0,200000)
except KeyboardInterrupt:
print('stopped')
dev1.output = bytes(len(dev1.output))
# dev2.output = bytes(len(dev2.output))
# dev3.output = bytes(len(dev2.output))
master.send_processdata()
master.receive_processdata(1_000)
master.state = pysoem.PREOP_STATE
master.write_state()
master.close()
To avoid the possible of the effect from other two motor, i commented out the code and not connected them.
I tested the motor on twincat3, it seems all good, the twincat seems in scp mode.
In the above code. the motor will stopped in pdo loop sometimes, the motor supplier told me maybe the pdo size too large.
but it seems the pdo is not large at all. Is there something wrong with the code.
from pysoem.
tom9672
commented on August 16, 2024
Finally, I figured it out, maybe the motor is form a very small company and its driver can't handle large pdo data.
It always stopped suddenly while running...
I tried to change its default 1600 and 1A00 by #50 (comment)
Now the problem never happened.
Thank you so much!!! BTW, I followed the miniexample, cuz I'm not very understand the basicexample, the code looks more complex. I'd like to know can the basicexample make the devices run better? if so, i will try more effort to learn it.
from pysoem.
Related Issues (20)
- IO-Link Ethercat module (EL6224) HOT 2
- Returning PDO frame late (Windows) HOT 2
- Handle Safety HOT 2
- ConnectionError: could not open interface on Ubuntu HOT 3
- Motion control HOT 1
- read and write PDOS question HOT 2
- Add meaning of 'network adapter ID' to documentation HOT 3
- Script crashes when Python debugger inspects `CdefSlave` HOT 3
- OD version bug HOT 1
- maybe a BUGm needs deeg in HOT 1
- How to pack / unpack single `BIT`s in PDO `input` / `output` HOT 3
- Open function returns always None HOT 2
- slave.write_eeprom() bug? HOT 2
- Transfer `pysoem` into the `OpenEtherCATsociety` Github group HOT 2
- Code completion / Intellisense not working HOT 3
- Setuptool version clash HOT 1
- no SDO info for slave device
- no SDO info for slave device
- ReadTheDocs documentation is not updating
- Servo State Change
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from pysoem.