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This is an SOEM (Simple Open EtherCAT Master) EPOS4 Motor Control Application running on the real-time Linux system.

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SOEM EPOS4 Motor Control Application

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


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:

framework


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]
    

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This is an SOEM (Simple Open EtherCAT Master) EPOS4 Motor Control Application running on the real-time Linux system.

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