SOEM EPOS4 Motor Control Application

This is a real-time EtherCAT master application to control EPOS4 motor.

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PREREQUISITES

• This application was developed with Preempt-rt patched Raspberry Pi 4
  • Developed Preempt-rt linux kernel version is 4.19.y-rt
  • Developed OS debian version is 10(buster)
  • For more details, go to the link
• This application requires extra Ethernet port on Raspberry Pi
  • For example, WIZnet W5500 Ethernet module with SPI interface can be applied
  • If you are going to use the same solution, you can find out details here
• EPOS4_GUI installed remote PC is required for remote connection

FRAMEWORK:

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HOW TO LAUNCH

BUILD:

  git clone https://github.com/shkwon98/EPOS4_SOEM.git
  cd EPOS4_SOEM
  chmod +x *.sh
  ./build.sh

CLEAN:

  ./clean.sh

RUN:

• Check information of all slaves on bus:

  cd test/slaveinfo/
  sudo ./slaveinfo [ifname]
  

• Check pdo mapping of all slaves on bus:

  cd test/slaveinfo/
  sudo ./slaveinfo [ifname] -map
  

• Activate motor in a single velocity:

  cd test/motor_test/
  sudo ./motor_test [ifname]
  

• Activate motor in a single velocity in Real-time:

  cd test/rt_motor_test/
  sudo ./rt_motor_test [ifname]
  

• Control the motor with the EPOS4_GUI Application:

  cd test/EPOS4/
  sudo ./main [ifname]