int main()
{
int slave_number = 0;
/* Initialize EtherCAT Master */
init_master(&master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
printf("starting Master application\n");
while(1)
{
/* Update the process data (EtherCAT packets) sent/received from the node */
pdo_handle_ecat(&master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
if(master_setup.op_flag) /*Check if the master is active*/
{
/* Write Process data */
slv_handles[slave_number].motorctrl_out = 12;
slv_handles[slave_number].torque_setpoint = 200;
slv_handles[slave_number].speed_setpoint = 4000;
slv_handles[slave_number].position_setpoint = 10000;
slv_handles[slave_number].operation_mode = 125;
/* Read Process data */
printf("Status: %d\n", slv_handles[slave_number].motorctrl_status_in);
printf("Position: %d \n", slv_handles[slave_number].position_in);
printf("Speed: %d\n", slv_handles[slave_number].speed_in);
printf("Torque: %d\n", slv_handles[slave_number].torque_in);
printf("Operation Mode disp: %d\n", slv_handles[slave_number].operation_mode_disp);
}
}
return 0;
}
int main()
{
float target_torque = -25.0; // mNm
float actual_torque = 0; // mNm
float tolerance = 0.76; // mNm
int actual_position = 0; // ticks
int actual_velocity = 0; // rpm
int ack = 0;
int sdo_update = 1; // 1- yes / 0 - no
int slave_number = 0;
/* Initialize Ethercat Master */
init_master(&master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
/* Initialize all connected nodes with Mandatory Motor Configurations (specified under config/motor/)*/
init_nodes(&master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
/* Initialize torque parameters */
initialize_torque(slave_number, slv_handles);
/* Initialize the node specified with slave_number with Profile Torque(TQ) configurations (specified under config/motor/)*/
set_operation_mode(TQ, slave_number, &master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
/* Enable operation of node in TQ mode */
enable_operation(slave_number, &master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
while(1)
{
/* Update the process data (EtherCat packets) sent/received from the node */
pdo_handle_ecat(&master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
if(master_setup.op_flag) /*Check if the master is active*/
{
/* Send target torque for the node specified by slave_number */
set_torque_mNm(target_torque, slave_number, slv_handles);
/* Check if target torque is reached with specified tolerance */
ack = target_torque_reached(slave_number, target_torque, tolerance, slv_handles);
/* Read actual node sensor values */
actual_torque= get_torque_actual_mNm(slave_number, slv_handles);
actual_position = get_position_actual_ticks(slave_number, slv_handles);
actual_velocity = get_velocity_actual_rpm(slave_number, slv_handles);
printf("target_torque %f \n",target_torque);
printf("actual_torque %f position %d velocity %d ack %d\n", actual_torque, actual_position, actual_velocity, ack);
}
if(ack == 1)
{
break;
}
}
printf("reached \n");
ack = 0;
while(!ack)
{
pdo_handle_ecat(&master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
if(master_setup.op_flag) /*Check if the master is active*/
{
actual_torque = get_torque_actual_mNm(slave_number, slv_handles);
actual_position = get_position_actual_ticks(slave_number, slv_handles);
actual_velocity = get_velocity_actual_rpm(slave_number, slv_handles);
if(actual_torque > tolerance || actual_torque < -tolerance)
{
/* Quick stop Profile Torque mode (for emergency) */
quick_stop_torque(slave_number, &master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
ack = 1;
}
printf("actual_torque %f position %d velocity %d ack %d\n", actual_torque, actual_position, actual_velocity, ack);
}
}
printf("reached \n");
/* Regain control of node to continue after quick stop */
renable_ctrl_quick_stop(TQ, slave_number, &master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
set_operation_mode(TQ, slave_number, &master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
enable_operation(slave_number, &master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
/*target_torque = 15.0; // mNm
while(1)
{
pdo_handle_ecat(&master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
if(master_setup.op_flag) // Check if the master is active
{
set_torque_mNm(target_torque, slave_number, slv_handles);
ack = target_torque_reached(slave_number, target_torque, tolerance, slv_handles);
actual_torque = get_torque_actual_mNm(slave_number, slv_handles);
printf("target_torque %f \n",target_torque);
printf("actual_torque %f ack %d\n", actual_torque, ack);
}
if(ack == 1)
{
break;
}
}
*/
/*printf("reached \n");
while(1)
{
pdo_handle_ecat(&master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
if(master_setup.op_flag)//Check if we are up
{
actual_torque = get_torque_actual_mNm(slave_number, slv_handles);
printf("actual_torque %f \n",actual_torque);
}
}*/
/* Shutdown node operations */
shutdown_operation(TQ, slave_number, &master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
return 0;
}
int main() {
int target_velocity = 2000; //rpm
int acceleration = 1000; //rpm/s
int deceleration = 1000; //rpm/s
int actual_velocity = 0; // rpm
int actual_position; // ticks
float actual_torque; // mNm
int steps = 0;
int velocity_ramp = 0; // rpm
/* Initialize Ethercat Master */
init_master(&master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
/* Initialize all connected nodes with Mandatory Motor Configurations (specified in config/motor/)*/
init_nodes(&master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
/* Initialize the node specified with ECAT_SLAVE_0 with CSV configurations (specified in config/motor/)*/
set_operation_mode(CSV, ECAT_SLAVE_0, &master_setup, slv_handles,
TOTAL_NUM_OF_SLAVES);
/* Enable operation of node in CSV mode */
enable_operation(ECAT_SLAVE_0, &master_setup, slv_handles,
TOTAL_NUM_OF_SLAVES);
/* Initialize velocity profile parameters */
steps = init_velocity_profile_params(target_velocity,
actual_velocity, acceleration, deceleration, ECAT_SLAVE_0,
slv_handles);
/* catch interrupt signal */
signal(SIGINT, INThandler);
/* Just for better printing result */
printf("\n");
system("setterm -cursor off");
while(1)
{
if (master_setup.op_flag && actual_velocity == 0) /*Check if the master is active and we haven't started moving yet*/
{
for (int step = 1; step < steps + 1; step++) {
/* Update the process data (EtherCat packets) sent/received from the node */
pdo_handle_ecat(&master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
/* Generate target velocity steps */
velocity_ramp = generate_profile_velocity(step, ECAT_SLAVE_0,
slv_handles);
/* Send target velocity for the node specified by ECAT_SLAVE_0 */
set_velocity_rpm(velocity_ramp, ECAT_SLAVE_0, slv_handles);
/* Read actual node sensor values */
actual_velocity
= get_velocity_actual_rpm(ECAT_SLAVE_0, slv_handles);
actual_position = get_position_actual_ticks(ECAT_SLAVE_0,
slv_handles);
actual_torque = get_torque_actual_mNm(ECAT_SLAVE_0, slv_handles);
printf("\r Velocity: %d Position: %d Torque: %f ",
actual_velocity, actual_position, actual_torque);
}
}
else if (break_loop){
break;
}
else {
/* Update the process data (EtherCat packets) sent/received from the node */
pdo_handle_ecat(&master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
/* Read actual node sensor values */
actual_velocity
= get_velocity_actual_rpm(ECAT_SLAVE_0, slv_handles);
actual_position = get_position_actual_ticks(ECAT_SLAVE_0,
slv_handles);
actual_torque = get_torque_actual_mNm(ECAT_SLAVE_0, slv_handles);
printf("\r Velocity: %d Position: %d Torque: %f ",
actual_velocity, actual_position, actual_torque);
}
}
printf("\n");
/* Quick stop velocity mode (for emergency) */
quick_stop_velocity(ECAT_SLAVE_0, &master_setup, slv_handles,
TOTAL_NUM_OF_SLAVES);
/* Regain control of node to continue after quick stop */
renable_ctrl_quick_stop(CSV, ECAT_SLAVE_0, &master_setup, slv_handles,
TOTAL_NUM_OF_SLAVES);
set_operation_mode(CSV, ECAT_SLAVE_0, &master_setup, slv_handles,
TOTAL_NUM_OF_SLAVES);
enable_operation(ECAT_SLAVE_0, &master_setup, slv_handles,
TOTAL_NUM_OF_SLAVES);
/* Shutdown node operations */
shutdown_operation(CSV, ECAT_SLAVE_0, &master_setup, slv_handles,
TOTAL_NUM_OF_SLAVES);
/* Just for better printing result */
system("setterm -cursor on");
return 0;
}
int main()
{
int flag = 0;
int acceleration = 350; // rpm/s
int deceleration = 350; // rpm/s
int velocity = 350; // rpm
int actual_position = 0; // ticks
int target_position = 0; // ticks
int actual_velocity; // rpm
float actual_torque; // mNm
int steps = 0;
int i = 1;
int position_ramp = 0;
int ack;
int home_velocity = 250; // rpm
int home_acceleration = 250; // rpm/s
int sdo_update = 1; // 1- yes / 0 - no
int slave_number = 0;
/* Initialize Ethercat Master */
init_master(&master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
/* Initialize torque parameters */
initialize_torque(slave_number, slv_handles);
/* Initialize all connected nodes with Mandatory Motor Configurations (specified under config/motor/)*/
init_nodes(&master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
/* Initialize the node specified with slave_number with Homing configurations (specified under config/motor/)*/
set_operation_mode(HM, slave_number, &master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
/* Enable operation of node in Homing mode */
enable_operation(slave_number, &master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
start_homing(&master_setup, slv_handles, home_velocity, home_acceleration, slave_number, TOTAL_NUM_OF_SLAVES);
/* Shutdown Homing Operation */
shutdown_operation(HM, slave_number, &master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
/*
* Acquire actual position from the node a few times after homing and
* set it as target position. (wait for controller to settle)
*/
i = 0;
int difference = 1500;
int previous=0;
while(1)
{
pdo_handle_ecat(&master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
if(master_setup.op_flag) //Check if the master is active
{
actual_position = get_position_actual_ticks(slave_number, slv_handles);
target_position = actual_position;
set_profile_position_ticks(target_position, slave_number, slv_handles);
i = i+1;
difference = actual_position - previous;
if(difference <1 && difference >-1)
{
//printf(" difference %d act %d\n",difference, actual_position);
break;
}
previous = actual_position;
//printf(" difference %d act %d\n",difference, actual_position);
}
}
/* Now initialize the node specified with slave_number with CSP configurations (specified under config/motor/)*/
set_operation_mode(CSP, slave_number, &master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
/* Enable operation of node in CSP mode */
enable_operation(slave_number, &master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
/* Initialize position profile parameters */
initialize_position_profile_limits(slave_number, slv_handles);//*/
/* Now setting a new target position after homing */
target_position = get_position_actual_ticks(slave_number, slv_handles) + 5000;
if(target_position > 35000)
target_position = 35000;
printf(" target_position %d\n", target_position);
/*calculate the no. of steps for the profile*/
steps = init_position_profile_params(target_position, actual_position, velocity, acceleration, \
deceleration, slave_number, slv_handles);
/* Execute the position profile steps in a loop */
i = 1;
while(1)
{
/* Update the process data (EtherCat packets) sent/received from the node */
pdo_handle_ecat(&master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
if(master_setup.op_flag) /*Check if the master is active*/
{
if(i<steps)
{
/* Generate target position steps */
position_ramp = generate_profile_position(i, slave_number, slv_handles);
/* Send target position for the node specified by slave_number */
set_position_ticks(position_ramp, slave_number, slv_handles);
i = i+1;
}
if(i >= steps)
{
printf("ack received");
break;
}
//printf("actual position %d \n", get_position_actual_ticks(slave_number, slv_handles));
/* Read actual node sensor values */
actual_position = get_position_actual_ticks(slave_number, slv_handles);
actual_velocity = get_velocity_actual_rpm(slave_number, slv_handles);
actual_torque = get_torque_actual_mNm(slave_number, slv_handles);
printf("actual position %d actual velocity %d actual_torque %f\n", actual_position, actual_velocity, actual_torque);
}
}
/* Quick stop position mode (for emergency) */
quick_stop_position(slave_number, &master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
/* Regain control of node to continue after quick stop */
renable_ctrl_quick_stop(CSP, slave_number, &master_setup, slv_handles, TOTAL_NUM_OF_SLAVES);
set_operation_mode(CSP, slave_number, &master_setup, slv_handles, TOTAL_NUM_OF_SLAVES); // set operation mode to CSP
enable_operation(slave_number, &master_setup, slv_handles, TOTAL_NUM_OF_SLAVES); // enable operation
/* Shutdown node operations */
shutdown_operation(CSP, slave_number, &master_setup, slv_handles, TOTAL_NUM_OF_SLAVES); // stop the node operation. or can continue with new position profile
return 0;
}
