pdo output does not seem to work

[ziafon]

I wrote a program to drive the motor with pysoem. It reached op state successfully but could only receive the data from the driver. If i try to send the control world to the driver, it doesn't work. Is this sth. wrong? Thanks for your help.

import sys
import pysoem
import struct
import time

class MotorDriver:

def __init__(self, ifname):
    self._ifname = ifname
    self._actual_wkc = 0
    self._master = pysoem.Master()
    self._master.in_op = False
    self._master.do_check_state = False

def pdo_map(self,pos):
    slave = self._master.slaves[pos]

    slave.sdo_write(0x1C12, 0, struct.pack('B', 0))
    slave.sdo_write(0x1C13, 0, struct.pack('B', 0))

    slave.sdo_write(0x1A02, 0, struct.pack('B', 0))
    slave.sdo_write(0x1A02, 1, struct.pack('I', 0x60410010))
    slave.sdo_write(0x1A02, 2, struct.pack('I', 0x60640020))
    slave.sdo_write(0x1A02, 0, struct.pack('B', 2))   

    slave.sdo_write(0x1602, 0, struct.pack('B', 0))
    slave.sdo_write(0x1602, 1, struct.pack('I', 0x60400010))
    slave.sdo_write(0x1602, 2, struct.pack('I', 0x607A0020))
    slave.sdo_write(0x1602, 0, struct.pack('B', 2))  

    slave.sdo_write(0x1C12, 1, struct.pack('H', 0x1602))
    slave.sdo_write(0x1C12, 0, struct.pack('B', 1))

    slave.sdo_write(0x1C13, 1, struct.pack('H', 0x1A02))
    slave.sdo_write(0x1C13, 0, struct.pack('B', 1)) 

def motor_run(self):    

    # Open EtherCAT master instance
    self._master.open(self._ifname)
    print("EtherCAT master created and started...")

    print("Enumarating slaves")
    # Enumerate and init all slaves
    if self._master.config_init() > 0:

        print("{} slaves found and configured".format(len(self._master.slaves))
 
        # PDO config 
        self.pdo_map(0)
        self.pdo_map(1)
        
        # PREOP_STATE to SAFEOP_STATE request - each slave's config_func is called
        self._master.config_map()
        print('Slaves mapped, state to SAFE_OP')

        # Read state of all slaves at start-up
        if self._master.state_check(pysoem.SAFEOP_STATE, 50000) != pysoem.SAFEOP_STATE:    
            self._master.read_state()
            for slave in self._master.slaves:
                if not slave.state == pysoem.SAFEOP_STATE:
                    print('{} did not reach SAFEOP state'.format(slave.name))
                    print('al status code {} ({})'.format(hex(slave.al_status),
                                                          pysoem.al_status_code_to_string(slave.al_status)))
            raise Exception('not all slaves reached SAFEOP state')

        self._master.state = pysoem.OP_STATE
        self._master.write_state()

        self._master.state_check(pysoem.OP_STATE, 50000)
        if self._master.state != pysoem.OP_STATE:
            self._master.read_state()
            for slave in self._master.slaves:
                if not slave.state == pysoem.OP_STATE:
                    print('{} did not reach OP state'.format(slave.name))
                    print('al status code {} ({})'.format(hex(slave.al_status),
                                                          pysoem.al_status_code_to_string(slave.al_status)))
            raise Exception('not all slaves reached OP state')

        try:

            self._master.slaves[0].output = struct.pack('H',0x06)
            self._master.slaves[1].output = struct.pack('H',0x06)
            self._master.send_processdata()
            time.sleep(0.001)
            self._master.slaves[0].output = struct.pack('H',0x07)
            self._master.slaves[1].output = struct.pack('H',0x07)
            self._master.send_processdata()
            time.sleep(0.001)
            self._master.slaves[0].output = struct.pack('H',0x0F)
            self._master.slaves[1].output = struct.pack('H',0x0F)
            self._master.send_processdata()
            time.sleep(0.001)

            while 1:
                # free run cycle
                self._master.send_processdata()
                self._master.receive_processdata(1000)
                
                rec1=self._master.slaves[0].input
                rec2=self._master.slaves[1].input
                
                p=2
                data1=struct.unpack_from('!i',rec1,p)
                data2=struct.unpack_from('!i',rec2,p)

                print('ac_ps:',data1,'    ','ac_ps:',data2)

                time.sleep(0.01)

        except KeyboardInterrupt:
            # ctrl-C abort handling
            print('stopped')
        self._master.state = pysoem.INIT_STATE
        # request INIT state for all slaves
        self._master.write_state()
        self._master.close()
    
    else:
        print('slaves not found')

if name == 'main':

print('script started')

if len(sys.argv) > 1:
    try:
        MotorDriver(sys.argv[1]).motor_run()
    except Exception as expt:
        print(expt)
        sys.exit(1)
else:
    print('give ifname as script argument')
    sys.exit(1)

[bnjmnp]

Hi @ziafon,

Dose your process data output really only consists of the 2 byte control word?

Maybe your drives only work with DC synchronization enabled, so you need to enable DC with function dc_sync() like in the basic_example.py.
You also may need to start the process data cycle prior to going to operational state, via a thread that runs in parallel. For this take a look at the basic_example.py.

Site note: If you place triple backticks ``` before and after code blocks, within your GitHub comments, you get nicer code blocks. You can even have syntax highlighting as described here. People can read and understand your code better and faster.

[bnjmnp]

Hi @ziafon,
did you actually found a solution for this?

[bnjmnp]

Closed due to inactivity of the OP.