松下(Panasonic)伺服EtherCAT(IGH EtehrCAT Master)通信注意事项
本文使用的松下伺服为A6B系列, EtherCAT主站搭建方法为IGH EtherCAT Master第三方协议栈。
- 电源接线
很多人拿到新的设备不知道怎么接电源线，这里给一个简洁的说明。
普通交流电接L1和L3（不用区分火线和零线），然后L1C接到L1，L2C接到L3；
三相电接L1、L2和L3，然后L1C接到L1，L2C接到L3；
当然还要接地。
- 试运行
用miniUSB线缆连接到电脑，电脑上事先装好PANATERM软件，识别到设备之后即可进行USB通信。这时候如果进入试运行，然后伺服使能，再伺服开启，发现并不能打开伺服设备，提示你错误代码38.1：
进入参数设置界面，将参数Pr4.01(SI2)改为0x010101h（十进制为65793），4.02(SI3)改为0x020202h（十进制为131586）即可，然后写入到EEROM，重新上电之后即可以进行试运转。 - EtherCAT试运行
这里给出IGH的测试代码，模式为pv，需要注意的是，速度的单位是指令/s，23位编码器的电机转一圈的脉冲是8388608，那么如果将目的速度设置为8388608则表示赋给的速度为1r/s；如果将设置为i r/s ，那么速度值应该为i*8388608。
程序需要的信息都可以从松下电机官网下载的ESI文件中获取，包括VID、PID以及寄存器信息。
/*****************************************************************************
* Example of Panasonic A6B servo drive setup with IgH EtherCAT Master library
* that starts the servo drive in profile velocity mode.
*
* Licence: the same than IgH EtherCAT Master library
*
* ABSTRACT:
*
* This small program shows how to configure a Panasonic A6B servo drive
* with IgH EtherCAT Master library. It illustrates the flexible PDO mapping
* and the DS402 command register programming in order to start the servo drive
* in profile velocity mode.
*
* Because the Panasonic A6B servo drive follows the DS402 standard, several
* sections of this example may apply also to other servo drive models.
*
* The code is based on a previous example from IgH EtherCAT Master
*
* Author: Zhou Yonghong
* Date: 2018/04/04
* Compile with:
gcc testbyesm.c -Wall -I /opt/etherlab/include -l ethercat -L /opt/etherlab/lib -o testbyesm
****************************************************************************/
#include
#include
#include
#include
#include
#include
#include
#include
#include
/****************************************************************************/
#include "ecrt.h"
/****************************************************************************/
/*Application Parameters*/
#define TASK_FREQUENCY 100 /*Hz*/
#define TIMOUT_CLEAR_ERROR (1*TASK_FREQUENCY) /*clearing error timeout*/
#define TARGET_VELOCITY 8388608 /*target velocity*/
#define PROFILE_VELOCITY 3 /*Operation mode for 0x6060:0*/
/*****************************************************************************/
/*EtherCAT*/
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};
static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state = {};
static ec_slave_config_t *sc_A6B;
static ec_slave_config_state_t sc_A6B_state = {};
/****************************************************************************/
/*Process Data*/
static uint8_t *domain1_pd = NULL;
#define A6BSlavePos 0,0 /*EtherCAT address on the bus*/
#define Panasonic 0x0000066F,0x60380004 /*Vendor ID, product code*/
/*Offsets for PDO entries*/
static struct{
unsigned int operation_mode;
unsigned int ctrl_word;
unsigned int target_velocity;
unsigned int status_word;
unsigned int mode_display;
unsigned int current_velocity;
// signed int current_velocity;
}offset;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{A6BSlavePos, Panasonic, 0x6040, 0, &offset.ctrl_word},
{A6BSlavePos, Panasonic, 0x6060, 0, &offset.operation_mode },
{A6BSlavePos, Panasonic, 0x60FF, 0, &offset.target_velocity},
{A6BSlavePos, Panasonic, 0x6041, 0, &offset.status_word},
{A6BSlavePos, Panasonic, 0x6061, 0, &offset.mode_display},
{A6BSlavePos, Panasonic, 0x606C, 0, &offset.current_velocity},
{}
};
static unsigned int counter = 0;
//static int state = -500;
/***************************************************************************/
/*Config PDOs*/
static ec_pdo_entry_info_t A6B_pdo_entries[] = {
/*RxPdo 0x1600*/
{0x6040, 0x00, 16},
{0x6060, 0x00, 8 },
{0x60FF, 0x00, 32},
/*TxPdo 0x1A00*/
{0x6041, 0x00, 16},
{0x6061, 0x00, 8},
{0x606C, 0x00, 32}
};
static ec_pdo_info_t A6B_pdos[] = {
//RxPdo
{0x1600, 3, A6B_pdo_entries + 0 },
//TxPdo
{0x1A00, 3, A6B_pdo_entries + 3 }
};
static ec_sync_info_t A6B_syncs[] = {
{ 0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE },
{ 1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE },
{ 2, EC_DIR_OUTPUT, 1, A6B_pdos + 0, EC_WD_DISABLE },
{ 3, EC_DIR_INPUT, 1, A6B_pdos + 1, EC_WD_DISABLE },
{ 0xFF}
};
/**************************************************************************/
/*************************************************************************/
void check_domain1_state(void)
{
ec_domain_state_t ds;
ecrt_domain_state(domain1, &ds);
if (ds.working_counter != domain1_state.working_counter)
{
printf("Domain1: WC %u.\n", ds.working_counter);
}
if (ds.wc_state != domain1_state.wc_state)
{
printf("Domain1: State %u.\n", ds.wc_state);
}
domain1_state = ds;
}
void check_master_state(void)
{
ec_master_state_t ms;
ecrt_master_state(master, &ms);
if (ms.slaves_responding != master_state.slaves_responding)
{
printf("%u slave(s).\n", ms.slaves_responding);
}
if (ms.al_states != master_state.al_states)
{
printf("AL states: 0x%02X.\n", ms.al_states);
}
if (ms.link_up != master_state.link_up)
{
printf("Link is %s.\n", ms.link_up ? "up" : "down");
}
master_state = ms;
}
/*****************************************************************************/
void check_slave_config_states(void)
{
ec_slave_config_state_t s;
ecrt_slave_config_state(sc_A6B, &s);
if (s.al_state != sc_A6B_state.al_state)
{
printf("A6B: State 0x%02X.\n", s.al_state);
}
if (s.online != sc_A6B_state.online)
{
printf("A6B: %s.\n", s.online ? "online" : "offline");
}
if (s.operational != sc_A6B_state.operational)
{
printf("A6B: %soperational.\n", s.operational ? "" : "Not ");
}
sc_A6B_state = s;
}
/*******************************************************************************/
void cyclic_task()
{
static unsigned int timeout_error = 0;
static uint16_t command=0x004F;
static int32_t target_velocity = TARGET_VELOCITY;
uint16_t status;
int8_t opmode;
int32_t current_velocity;
// int32_t command_value;
/*Receive process data*/
ecrt_master_receive(master);
ecrt_domain_process(domain1);
/*Check process data state(optional)*/
check_domain1_state();
counter = TASK_FREQUENCY;
//Check for master state
check_master_state();
//Check for slave configuration state(s)
check_slave_config_states();
/*Read inputs*/
status = EC_READ_U16(domain1_pd + offset.status_word);
opmode = EC_READ_U8(domain1_pd + offset.mode_display);
current_velocity = EC_READ_S32(domain1_pd + offset.current_velocity);
printf("A6B: act velocity = %d , cmd = 0x%x , status = 0x%x , opmode = 0x%x\n",
(current_velocity*60)/target_velocity, command, status, opmode);
//DS402 CANOpen over EtherCAT status machine
if( (status & command) == 0x0040 )
{
EC_WRITE_U16(domain1_pd + offset.ctrl_word, 0x0006 );
EC_WRITE_S8(domain1_pd + offset.operation_mode, PROFILE_VELOCITY);
command = 0x006F;
}
else if( (status & command) == 0x0021)
{
EC_WRITE_U16(domain1_pd + offset.ctrl_word, 0x0007 );
command = 0x006F;
}
else if( (status & command) == 0x0023)
{
EC_WRITE_U16(domain1_pd + offset.ctrl_word, 0x000f );
EC_WRITE_S32(domain1_pd + offset.target_velocity, target_velocity);
command = 0x006F;
}
//operation enabled
else if( (status & command) == 0x0027)
{
EC_WRITE_U16(domain1_pd + offset.ctrl_word, 0x001f);
}
/*Send process data*/
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
/****************************************************************************/
int main(int argc, char **argv)
{
master = ecrt_request_master(0);
if (!master)
{
exit(EXIT_FAILURE);
}
domain1 = ecrt_master_create_domain(master);
if (!domain1)
{
exit(EXIT_FAILURE);
}
if (!(sc_A6B = ecrt_master_slave_config(master, A6BSlavePos, Panasonic)))
{
fprintf(stderr, "Failed to get slave configuration for A6B!\n");
exit(EXIT_FAILURE);
}
// printf("alias=%d,vid=%d,watchdog_divider=%d",sc_A6B->alias,sc_A6B->position,sc_A6B->watchdog_divider);
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_A6B, EC_END, A6B_syncs))
{
fprintf(stderr, "Failed to configure A6B PDOs!\n");
exit(EXIT_FAILURE);
}
else
{
printf("*Success to configuring A6B PDOs*\n");
}
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs))
{
fprintf(stderr, "PDO entry registration failed!\n");
exit(EXIT_FAILURE);
}
else
{
printf("*Success to configuring A6B PDO entry*\n");
printf("operation_mode=%d, ctrl_word=%d, target_velocity=%d, status_word=%d, mode_display=%d, current_velocity=%d\n",
offset.operation_mode,offset.ctrl_word,offset.target_velocity,offset.status_word,offset.mode_display,offset.current_velocity);
}
printf("Activating master...\n");
if (ecrt_master_activate(master)) {
exit(EXIT_FAILURE);
}
else
{
printf("*Master activated*\n");
}
if (!(domain1_pd = ecrt_domain_data(domain1))) {
exit(EXIT_FAILURE);
}
printf("*It's working now*\n");
while (1)
{
usleep(100000/TASK_FREQUENCY);
cyclic_task();
}
ecrt_master_deactive(master);
return EXIT_SUCCESS;
}