Gravity Compensation app

Submitted by praman2s on Fri, 2013-02-15 23:49

Orocos-users

Dear All.

As you will eventually notice that I am a beginner who needs help solving the setup.

As a
first trial I tried your gravity compensation app. I think my experience is not enough to get it working.

I followed all the procedure in the youbot-store (http://youbot-store.com/apps-and-utilities/32/software.aspx) however i get the following error which I do not know how to fix :

Error is as follows :

root@pramanuj-laptop:~/orocros/youbot_hardware/youbot_driver_rtt# ./run.sh -r
OROCOS RTTLua 1.0-beta5 / Lua 5.1.4 (gnulinux)
1.664 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
1.664 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
1.667 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
1.667 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
1.671 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
1.671 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
1.674 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
1.674 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
1.678 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 3
1.678 [ ERROR ][youbot] setDefParam: failed to read param nr ?
1.705 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
1.705 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
1.709 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
1.709 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
1.712 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
1.712 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
1.715 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
1.715 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
1.718 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 3
1.718 [ ERROR ][youbot] setDefParam: failed to read param nr ?
.....Arm calibration failed.
Base calibration failed.
INFO: created undeclared connector root.initial
rfsm_timeevent: time-event extension loaded
Please run "youbot_test_help()" for information on available functions
>

It would be of great if you can help me fix this.

Best RegardsPraveen

Gravity Compensation app

Submitted by eneascioni on Sat, 2013-02-16 15:12.

Dear Praveen,

root@pramanuj-laptop:~/**orocros/youbot_hardware/**youbot_driver_rtt#
./run.sh -r

> OROCOS RTTLua 1.0-beta5 / Lua 5.1.4 (gnulinux)
> 1.664 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
> 1.664 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
> 1.667 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
> 1.667 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
> 1.671 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
> 1.671 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
> 1.674 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
> 1.674 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
> 1.678 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 3
> 1.678 [ ERROR ][youbot] setDefParam: failed to read param nr ?
> 1.705 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
> 1.705 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
> 1.709 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
> 1.709 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
> 1.712 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
> 1.712 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
> 1.715 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
> 1.715 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
> 1.718 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 3
> 1.718 [ ERROR ][youbot] setDefParam: failed to read param nr ?
> .....Arm calibration failed.
> Base calibration failed.
> INFO: created undeclared connector root.initial
> rfsm_timeevent: time-event extension loaded
> Please run "youbot_test_help()" for information on available functions
> >
>
> It would be of great if you can help me fix this.
>
> It sounds like you are not able to access/communicate to ethercat devices
on the youBot...
Could you please check the following:
1) Do you have rights to access to these devices (i.e. run fix_caps.sh in
youbot_driver_rtt ) ?
2) Are the "run/stop" button(s) on the youbot on? If not, it is likely that
you have only the onboard pc powered, and not the youBot Base and Arm...

Regards,
- Enea

Gravity Compensation app

Submitted by praman2s on Mon, 2013-02-18 12:32.

Dear Enea,

Thank you for the reply.
May be this point is important or may be not.. I am using Firmware version 2.0, does it make difference for this app ?

    It sounds like you are not able to access/communicate to ethercat devices on the youBot...
    Could you please check the following:
    1) Do you have rights to access to these devices (i.e. run fix_caps.sh in youbot_driver_rtt ) ?

When I run this command, I get the following :

configuring capabilities on deployer
configuring capabilities on deployer-corba
configuring capabilities on deployer-corba-gnulinux
configuring capabilities on deployer-gnulinux
configuring capabilities on rttlua
configuring capabilities on rttlua-gnulinux
configuring capabilities on rttlua-tlsf
configuring capabilities on rttlua-tlsf-gnulinux
configuring capabilities on deployer
configuring capabilities on deployer-corba
configuring capabilities on deployer-corba-gnulinux
configuring capabilities on deployer-gnulinux
configuring capabilities on rttlua
configuring capabilities on rttlua-gnulinux
configuring capabilities on rttlua-tlsf
configuring capabilities on rttlua-tlsf-gnulinux

2) Are the "run/stop" button(s) on the youbot on? If not, it is likely
that you have only the onboard pc powered, and not the youBot Base and
Arm...

Everything seems to be ok and when i try to run with youbot_driver with out orocos, it works fine.

Best Regards
Praveen

>________________________________
> From: Enea Scioni <scnnee [..] ...>
>To: Praveen Ramanujam <praveen [dot] ramanujam [..] ...>
>Cc: "Orocos-Users [..] ..." <Orocos-Users [..] ...>
>Sent: Saturday, February 16, 2013 4:08 PM
>Subject: Re: [Orocos-users] Gravity Compensation app
>
>
>Dear Praveen,
>
>
>root@pramanuj-laptop:~/orocros/youbot_hardware/youbot_driver_rtt# ./run.sh -r
>
>OROCOS RTTLua 1.0-beta5 / Lua 5.1.4 (gnulinux)
>>1.664 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
>>1.664 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
>>1.667 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
>>1.667 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
>>1.671 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
>>1.671 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
>>1.674 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
>>1.674 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
>>1.678 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 3
>>1.678 [ ERROR ][youbot] setDefParam: failed to read param nr ?
>>1.705 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
>>1.705 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
>>1.709 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
>>1.709 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
>>1.712 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
>>1.712 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
>>1.715 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 8
>>1.715 [ ERROR ][youbot] setDefParam: setting param nr ? to 3 failed. pwd?
>>1.718 [ ERROR ][youbot::sendMBX] Setting parameter failed with status 3
>>1.718 [ ERROR ][youbot] setDefParam: failed to read param nr ?
>>.....Arm calibration failed.
>>Base calibration failed.
>>INFO: created undeclared connector root.initial
>>rfsm_timeevent: time-event extension loaded
>>Please run "youbot_test_help()" for information on available functions
>>>
>>
>>
>>It would be of great if you can help me fix this.
>>
>>
>It sounds like you are not able to access/communicate to ethercat devices on the youBot...
>Could you please check the following:
>1) Do you have rights to access to these devices (i.e. run fix_caps.sh in youbot_driver_rtt ) ?
>2) Are the "run/stop" button(s) on the youbot on? If not, it is likely that you have only the onboard pc powered, and not the youBot Base and Arm...
>
>
>Regards,
>- Enea
>
>
>
>

Gravity Compensation app

Submitted by markus.klotzbuecher on Mon, 2013-02-18 12:56.

Hi Praveen,

On Mon, Feb 18, 2013 at 04:31:29AM -0800, Praveen Ramanujam wrote:

> Thank you for the reply.
> May be this point is important or may be not.. I am using Firmware version 2.0,
> does it make difference for this app ?

Yes, the orocos driver has not been tested yet with Firmware version
2.0.

Best regards
Markus

Gravity Compensation app

Submitted by praman2s on Mon, 2013-02-18 13:04.

Hi Markus,

Is there something else which I am missing to make this app running ?
I still get the same error.

Best Regards
Praveen

Gravity Compensation app

Submitted by markus.klotzbuecher on Mon, 2013-02-18 13:04.

On Mon, Feb 18, 2013 at 04:59:53AM -0800, Praveen Ramanujam wrote:
> Hi Markus,
>
> Is there something else which I am missing to make this app running ?
> I still get the same error.

I don't think so, the problem is likely only the driver which we need
to update for firmware 2.0. I currently can't make any promises when
that will be, though.

Best regards
Markus

Gravity Compensation app

Submitted by praman2s on Wed, 2013-02-20 18:52.

Hi Markus,

Before I give up, I just wanted to try for one last time. (I use external PC to control the robot)
With previous version of firmware, I get the following error

OROCOS RTTLua 1.0-beta5 / Lua 5.1.4 (gnulinux)
1.680 [ ERROR ][youbot] Base power board: KR-845 not detected, found KR-843instead.
/opt/ros/electric/stacks/orocos_toolchain/ocl/bin/rttlua-gnulinux: lua/youbot_test.lua:61: Service.provides: no subservice youbot of service Base
stack traceback:
    [C]: in function 'provides'
    lua/youbot_test.lua:61: in main chunk
    [C]: ?

Can you please help to resolve this ?

Best Regards
Praveen

Gravity Compensation app

Submitted by markus.klotzbuecher on Wed, 2013-02-20 19:16.

Hi Praveen,

On Wed, Feb 20, 2013 at 10:48:42AM -0800, Praveen Ramanujam wrote:
> Hi Markus,
>
> Before I give up, I just wanted to try for one last time. (I use external PC to
> control the robot)
> With previous version of firmware, I get the following error
>
> OROCOS RTTLua 1.0-beta5 / Lua 5.1.4 (gnulinux)
> 1.680 [ ERROR ][youbot] Base power board: KR-845 not detected, found
> KR-843instead.
> /opt/ros/electric/stacks/orocos_toolchain/ocl/bin/rttlua-gnulinux:
> lua/youbot_test.lua:61: Service.provides: no subservice youbot of service Base
> stack traceback:
> [C]: in function 'provides'
> lua/youbot_test.lua:61: in main chunk
> [C]: ?
>
> Can you please help to resolve this ?

Interesting, it means that instead of a base powerboard an arm
powerboard was detected on the ethercat bus. Is your base connected
properly to the ethercat bus? Can you run the soem "slaveinfo" tool
(as root), and post the output here?

Thanks
Markus

Gravity Compensation app

Submitted by praman2s on Thu, 2013-02-21 10:32.

Hi Markus,

I am not sure why I get this but the output is surely not as expected:

./slaveinfo tool
SOEM (Simple Open EtherCAT Master)
Slaveinfo
Starting slaveinfo
getting socket index failed:-1, Operation not permitted
ec_init on tool succeeded.
No slaves found!
End slaveinfo, close socket
End program

Best Regards
Praveen

>________________________________
> From: Markus Klotzbuecher <markus [dot] klotzbuecher [..] ...>
>To: Praveen Ramanujam <praveen [dot] ramanujam [..] ...>
>Cc: Enea Scioni <scnnee [..] ...>; ""Orocos-Users [..] ..."" <Orocos-Users [..] ...>
>Sent: Wednesday, February 20, 2013 8:13 PM
>Subject: Re: [Orocos-users] Gravity Compensation app
>
>Hi Praveen,
>
>On Wed, Feb 20, 2013 at 10:48:42AM -0800, Praveen Ramanujam wrote:
>> Hi Markus,
>>
>> Before I give up, I just wanted to try for one last time. (I use external PC to
>> control the robot)
>> With previous version of firmware, I get the following error
>>
>> OROCOS RTTLua 1.0-beta5 / Lua 5.1.4 (gnulinux)
>> 1.680 [ ERROR ][youbot] Base power board: KR-845 not detected, found
>> KR-843instead.
>> /opt/ros/electric/stacks/orocos_toolchain/ocl/bin/rttlua-gnulinux:
>> lua/youbot_test.lua:61: Service.provides: no subservice youbot of service Base
>> stack traceback:
>> [C]: in function 'provides'
>> lua/youbot_test.lua:61: in main chunk
>> [C]: ?
>>
>> Can you please help to resolve this ?
>
>Interesting, it means that instead of a base powerboard an arm
>powerboard was detected on the ethercat bus. Is your base connected
>properly to the ethercat bus? Can you run the soem "slaveinfo" tool
>(as root), and post the output here?
>
>Thanks
>Markus
>
>
>
>

Gravity Compensation app

Submitted by markus.klotzbuecher on Thu, 2013-02-21 10:36.

On Thu, Feb 21, 2013 at 02:29:08AM -0800, Praveen Ramanujam wrote:
> Hi Markus,
>
> I am not sure why I get this but the output is surely not as expected:
>
> ./slaveinfo tool
> SOEM (Simple Open EtherCAT Master)
> Slaveinfo
> Starting slaveinfo
> getting socket index failed:-1, Operation not permitted
> ec_init on tool succeeded.
> No slaves found!
> End slaveinfo, close socket
> End program

You need to provide the respective ethercat interface as an argument
to slaveinfo. For example:

$ sudo ./slaveinfo eth0

But you may need to replace eth0 with the interface to which the
ethercat bus on your youbot is connected to. Also, you'll need to run
as root (SOEM needs to open a raw socket).

Best regards
Markus

Gravity Compensation app

Submitted by praman2s on Fri, 2013-02-22 12:16.

Hi Markus,

We wanted to read the joint states using youbot_driver_rtt.
We see a member function YoubotArmService::copyJointStates and also see msg motor_states.

On checking the rostopic, we see that we have joint states but no one is publishing it.

What is the right way to read the joint states ?
Better is that some one publishes continuously , right ? if that is the case then it should use member function of YouBot..Service ?

Thank you in advance

Best Regards
Praveen

>________________________________
> From: Markus Klotzbuecher <markus [dot] klotzbuecher [..] ...>
>To: Praveen Ramanujam <praveen [dot] ramanujam [..] ...>
>Cc: Enea Scioni <scnnee [..] ...>; ""Orocos-Users [..] ..."" <Orocos-Users [..] ...>
>Sent: Thursday, February 21, 2013 11:33 AM
>Subject: Re: [Orocos-users] Gravity Compensation app
>
>On Thu, Feb 21, 2013 at 02:29:08AM -0800, Praveen Ramanujam wrote:
>> Hi Markus,
>>
>> I am not sure why I get this but the output is surely not as expected:
>>
>> ./slaveinfo tool
>> SOEM (Simple Open EtherCAT Master)
>> Slaveinfo
>> Starting slaveinfo
>> getting socket index failed:-1, Operation not permitted
>> ec_init on tool succeeded.
>> No slaves found!
>> End slaveinfo, close socket
>> End program
>
>You need to provide the respective ethercat interface as an argument
>to slaveinfo. For example:
>
>$ sudo ./slaveinfo eth0
>
>But you may need to replace eth0 with the interface to which the
>ethercat bus on your youbot is connected to. Also, you'll need to run
>as root (SOEM needs to open a raw socket).
>
>Best regards
>Markus
>
>
>
>

Gravity Compensation app

Submitted by eneascioni on Fri, 2013-02-22 12:52.

Hi Praveen,

On checking the rostopic, we see that we have joint states but no one is
> publishing it.

If I well remember, probably you have to (i) calibrate the arm and then
(ii) select the "ControlMode" which you like (velocity mode or current
(read torque here) mode) (aset_cmode_vel() function or aset_cmode_cur()
function )
You can still print these informations typing "ainf()" .
For more infos, you can type "youbot_test_help"

What is the right way to read the joint states ?
>
Depending on your needs. On ROS topic as you mentioned before, or even
better directly from the port in Orocos (it is called "jointstate").

Better is that some one publishes continuously , right ?
>
I think so.

> if that is the case then it should use member function of YouBot..Service ?
>
You shouldn't use/call a member function component if it is not defined
into an interface first...

- Enea

Gravity Compensation app

Submitted by praman2s on Thu, 2013-02-21 11:16.

Hi Markus,

My mistake.

Here is the output :

SOEM (Simple Open EtherCAT Master)
Slaveinfo
Starting slaveinfo
ec_init on eth0 succeeded.
11 slaves found and configured.
Calculated workcounter 27

Slave:1
Name:KR-843
Output size: 0bits
Input size: 0bits
State: 4
Delay: 0[ns]
Has DC: 1
DCParentport:0
Activeports:1.0.0.1
Configured address: 1001
Man: 00000286 ID: 00000066 Rev: 00000000
SM0 A:1100 L:   8 F:00000026 Type:1
SM1 A:1130 L:   8 F:00000022 Type:2
SM2 A:1000 L:   8 F:00000024 Type:3
SM3 A:1030 L:   8 F:00000020 Type:4
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 00
CoE details: 00 FoE details: 00 EoE details: 00 SoE details: 00
Ebus current: -2000[mA]
only LRD/LWR:0

Slave:2
Name:TMCM-KR-841
Output size: 320bits
Input size: 320bits
State: 4
Delay: 140[ns]
Has DC: 1
DCParentport:3
Activeports:1.1.0.0
Configured address: 1002
Man: 00000286 ID: 0000006f Rev: 00000000
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:00000000 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:00000168 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0

Slave:3
Name:TMCM-KR-841
Output size: 320bits
Input size: 320bits
State: 4
Delay: 285[ns]
Has DC: 1
DCParentport:1
Activeports:1.1.0.0
Configured address: 1003
Man: 00000286 ID: 0000006f Rev: 00000000
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:00000028 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:00000190 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0

Slave:4
Name:TMCM-KR-841
Output size: 320bits
Input size: 320bits
State: 4
Delay: 425[ns]
Has DC: 1
DCParentport:1
Activeports:1.1.0.0
Configured address: 1004
Man: 00000286 ID: 0000006f Rev: 00000000
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:00000050 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:000001b8 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0

Slave:5
Name:TMCM-KR-841
Output size: 320bits
Input size: 320bits
State: 4
Delay: 570[ns]
Has DC: 1
DCParentport:1
Activeports:1.1.0.0
Configured address: 1005
Man: 00000286 ID: 0000006f Rev: 00000000
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:00000078 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:000001e0 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0

Slave:6
Name:TMCM-KR-841
Output size: 320bits
Input size: 320bits
State: 4
Delay: 720[ns]
Has DC: 1
DCParentport:1
Activeports:1.0.0.0
Configured address: 1006
Man: 00000286 ID: 0000006f Rev: 00000000
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:000000a0 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:00000208 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0

Slave:7
Name:KR-845
Output size: 0bits
Input size: 0bits
State: 4
Delay: 1825[ns]
Has DC: 1
DCParentport:0
Activeports:0.1.1.1
Configured address: 1007
Man: 00000286 ID: 00000065 Rev: 00000000
FMMUfunc 0:0 1:0 2:0 3:0
MBX length wr: 0 rd: 0 MBX protocols : 00
CoE details: 00 FoE details: 00 EoE details: 00 SoE details: 00
Ebus current: -2000[mA]
only LRD/LWR:0

Slave:8
Name:TMCM-174
Output size: 320bits
Input size: 320bits
State: 4
Delay: 1965[ns]
Has DC: 1
DCParentport:3
Activeports:1.1.0.0
Configured address: 1008
Man: 00000286 ID: 0000006e Rev: 00000000
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:000000c8 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:00000230 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0

Slave:9
Name:TMCM-174
Output size: 320bits
Input size: 320bits
State: 4
Delay: 2110[ns]
Has DC: 1
DCParentport:1
Activeports:1.1.0.0
Configured address: 1009
Man: 00000286 ID: 0000006e Rev: 00000000
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:000000f0 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:00000258 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0

Slave:10
Name:TMCM-174
Output size: 320bits
Input size: 320bits
State: 4
Delay: 2255[ns]
Has DC: 1
DCParentport:1
Activeports:1.1.0.0
Configured address: 100a
Man: 00000286 ID: 0000006e Rev: 00000000
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:00000118 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:00000280 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0

Slave:11
Name:TMCM-174
Output size: 320bits
Input size: 320bits
State: 4
Delay: 2410[ns]
Has DC: 1
DCParentport:1
Activeports:1.0.0.0
Configured address: 100b
Man: 00000286 ID: 0000006e Rev: 00000000
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:00000140 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:000002a8 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0
End slaveinfo, close socket
End program

Best Regards
Praveen

>________________________________
> From: Markus Klotzbuecher <markus [dot] klotzbuecher [..] ...>
>To: Praveen Ramanujam <praveen [dot] ramanujam [..] ...>
>Cc: Enea Scioni <scnnee [..] ...>; ""Orocos-Users [..] ..."" <Orocos-Users [..] ...>
>Sent: Thursday, February 21, 2013 11:33 AM
>Subject: Re: [Orocos-users] Gravity Compensation app
>
>On Thu, Feb 21, 2013 at 02:29:08AM -0800, Praveen Ramanujam wrote:
>> Hi Markus,
>>
>> I am not sure why I get this but the output is surely not as expected:
>>
>> ./slaveinfo tool
>> SOEM (Simple Open EtherCAT Master)
>> Slaveinfo
>> Starting slaveinfo
>> getting socket index failed:-1, Operation not permitted
>> ec_init on tool succeeded.
>> No slaves found!
>> End slaveinfo, close socket
>> End program
>
>You need to provide the respective ethercat interface as an argument
>to slaveinfo. For example:
>
>$ sudo ./slaveinfo eth0
>
>But you may need to replace eth0 with the interface to which the
>ethercat bus on your youbot is connected to. Also, you'll need to run
>as root (SOEM needs to open a raw socket).
>
>Best regards
>Markus
>
>
>
>