Infoportal
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
| Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende Überarbeitung | ||
| embedded_systems:ethercat:teststand [2021-11-26 09:41] – Urs Graf | embedded_systems:ethercat:teststand [2022-04-01 15:26] (aktuell) – Urs Graf | ||
|---|---|---|---|
| Zeile 1: | Zeile 1: | ||
| ====== EtherCAT Teststand ====== | ====== EtherCAT Teststand ====== | ||
| - | To be able to check the [[embedded_systems: | + | To be able to check the [[embedded_systems: |
| - | A test program is available in which the two motors | + | A test program is available in which the drives turn the two motors |
| + | * standalone | ||
| + | * using EEROS | ||
| ===== Build the Image with Yocto ===== | ===== Build the Image with Yocto ===== | ||
| Zeile 15: | Zeile 17: | ||
| git clone git:// | git clone git:// | ||
| git clone https:// | git clone https:// | ||
| - | git clone https:// | + | git clone https:// |
| </ | </ | ||
| Zeile 34: | Zeile 36: | ||
| <path to yocto directory>/ | <path to yocto directory>/ | ||
| <path to yocto directory> | <path to yocto directory> | ||
| - | <path to yocto directory> | + | <path to yocto directory> |
| " | " | ||
| </ | </ | ||
| Zeile 59: | Zeile 61: | ||
| The command to build the teststand-image is '' | The command to build the teststand-image is '' | ||
| - | **Flash the image**\\ | + | ==== Flash the image ==== |
| Follow [[software: | Follow [[software: | ||
| The image was created in\\ ''< | The image was created in\\ ''< | ||
| - | ===== Run Test Program ===== | ||
| - | **Booting the image for the first time**\\ | + | ==== Run the example |
| - | When booting the image for the first time, it straight goes to emergency mode. This is because the wrong storage is set. To fix that, open '' | + | |
| - | + | ||
| - | + | ||
| - | **Run the example**\\ | + | |
| If the connection is not yet established, | If the connection is not yet established, | ||
| Zeile 91: | Zeile 88: | ||
| Now you are ready to run the test program. | Now you are ready to run the test program. | ||
| + | Either the standard test program: | ||
| <code text> | <code text> | ||
| teststand -f / | teststand -f / | ||
| </ | </ | ||
| + | |||
| + | or the test program with EEROS: | ||
| + | <code text> | ||
| + | teststand_eeros -f / | ||
| + | </ | ||
| + | |||
| + | |||
| **Syntax**: | **Syntax**: | ||
| * **-f** Path to corresponding ENI file ((The ENI file is already provided in the cloned repository. If you want to change the EtherCAT network, create a new ENI file as described in [[embedded_systems: | * **-f** Path to corresponding ENI file ((The ENI file is already provided in the cloned repository. If you want to change the EtherCAT network, create a new ENI file as described in [[embedded_systems: | ||
| - | * **-i8254x** Use LinkLayer "// | + | * **-i8254x** Use LinkLayer "// |
| * **2** < | * **2** < | ||
| * **1** < | * **1** < | ||
| Zeile 105: | Zeile 110: | ||
| * **-perf** Display performance measurements (Enable max. and average time measurement in μs for all EtherCAT jobs) | * **-perf** Display performance measurements (Enable max. and average time measurement in μs for all EtherCAT jobs) | ||
| - | + | ===== Findings | |
| - | ===== Customize Test Program | + | * When ENI are not setup correctly, the process data image can show strange alignment problems. |
| - | + | * Velocity readings on the teststand may vary greatly. The internal sampling rate of the drive may be 8 times higher than the sampling on the bus with 1ms. This leads to very few ticks, because the encoder has 25000 ticks per turn and the velocity is very slow. The drive obviously has an internal filter / observer . | |
| - | TODO | + | * There is a emergency stop button. This button is connected to a digital input of the ELMO drive. However, we currently do not read this input, because that's not possible with PDO transfers. |
| ===== Hardware ===== | ===== Hardware ===== | ||
| - | + | The drives are [[https:// | |
| - | The drives are [[https:// | + | |
| {{ : | {{ : | ||