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ELMO ethercat driver help

asked 2017-03-07 11:56:08 -0600

jakeweinmann gravatar image


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.

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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?

asdxcsd gravatar image asdxcsd  ( 2017-04-20 04:20:26 -0600 )edit

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answered 2018-01-30 00:42:44 -0600

TraiBo gravatar image

" SOEM is an open source EtherCAT master library written in c" which is available @ . . After that try to go through the example codes in following link .

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 . 9) Below are the best web links to extend the application code for your requirement . .

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Can you provide the last two links again? Only part of them are shown so that the links cannot be used.

yuuubc gravatar image yuuubc  ( 2018-06-09 13:51:32 -0600 )edit

answered 2019-03-12 02:44:03 -0600

mgruhler gravatar image

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.

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Asked: 2017-03-07 11:56:08 -0600

Seen: 1,654 times

Last updated: Mar 12 '19