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Hello,
Has anyone written a fully implemented ELMO EtherCAT communication driver? I would like to use ROS to communicate with ELMO gold twitter drivers over EtherCAT and I'm having a difficult time understanding how to use SOEM. Has anyone written some code to control drivers over EtherCAT I can use as a starting point?
Thanks in advance.
" SOEM is an open source EtherCAT master library written in c" which is available @ https://github.com/OpenEtherCATsociet.. . . After that try to go through the example codes in following link https://github.com/OpenEtherCATsociet.. .
1) Download the repository SOEM-master and create a build directory in the path according to you ../../SOEM-master/ 2) Then again crate a test directory in side your build directory ../../SOEM-master/build/test/ 3) Now compile the package alone using cmake .. & make commands in the path ../../SOEM-master/ 4) Then find the executables generated in the path ../../SOEM-master/build/test/ 5) Connect your motor drive using Ethernet cable to your PC 6) Try to run the simple_test executable with sudo permissions as follows sudo ./simpple_test eth0 or eth1 7) Try to understand the response got from the ethercat slave drive like name, id , revision and cross check with the manufacturer data sheet 8) Now decide yourself in which mode you want to run the ethercat slaves for example cyclic synchronous torque mode you can get the example code in the following link https://gist.github.com/manuelvonthro.. . 9) Below are the best web links to extend the application code for your requirement http://www.elmomc.com/support/manuals.. . https://www.google.co.in/url?sa=t&rct.. .
As I starting point I could refer you to this example code which drives 2 Elmo Gold DC Whistle drives using SOEM. Most important thing is to set up the PDO-Mappings correctly.
Note also that SOEM is released as a ROS package, so I suggest to use this.
Asked: 2017-03-07 11:56:08 -0600
Seen: 1,860 times
Last updated: Mar 12 '19
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Hi，has the problem been solved?. Before I communicate with ELMO engineers,they recommend the use of G-mas controller for the Ethercat communication between G-Twitter and IPC, but we do not use. I’m wondering whether the Ipc can directly control the driver via EtherCat？