Igh related:Small Bug And Notes Record.

Write at the top

My computer got some silly problem with the typing software that my Chinese IM does't work again. So I'll try to record the things happened in English.

If any error,DM me plz.

BUGs

BUG1

Undefined symbol Identifier "CLOCK_MONOTONIC"

Undefined symbol Identifier "TIMER_ABSTIME"

Solution

In your main cpp file, add this in the first line:
#define _GNU_SOURCE

Notes

Command Line Notes

  1. 0x1c12(SM2)
    0x1c12 is SM2 Related Index , Specially used in EtherCAT over the CANOpen.
    Aimed to set the RPDO settings.

sudo ethercat upload -t int8 -p 3 -a 0 0x1c12 00

0x01 1

sudo ethercat upload -t int16 -p 3 -a 0 0x1c12 01

0x1600 5632
sudo ethercat upload -t int16 -p 3 -a 0 0x1c12 31

SDO transfer aborted with code 0x06090011: Subindex does not exist
sudo ethercat upload -t int16 -p 3 -a 0 0x1c12 30

0x1621 5665

Index SubIndex Size Default Value
0x1c12 00 int8 0x01
0x1c12 01 int16 0x1600(5632)
0x1c12 02 int16 0x1601(5634)
... ... ... ...
0x1c12 29 int16 0x1620(5664)
0x1c12 30 int16 0x1621(5665)
Index SubIndex Size Default Value
0x1600 00 int8 0x03
0x1600 01 int32 0x607a0020(1618608160)
0x1600 02 int32 0x60fe0120(1627259168)
0x1600 03 int32 0x60400010(1614807056)

2.0x1c13(SM3)

Index SubIndex Size Default Value
0x1c13 00 int8 0x01
0x1c13 01 int16 0x1a00(6656)
0x1c13 02 int16 0x1a01(6657)
... ... ... ...
0x1c13 33 int16 0x1a24(6692)
0x1c13 34 int16 0x1a26(6694)
0x1c13 35 int16 0x0000(0)

Set 0x1c12 0 to 0

Then set it to the true number

Set 0x1600 0 to 0

Then set it to the true number 1

Set 0x1601 0 to 0

Then set it to the true number 1

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