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koppi-cnc-info.sh
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koppi-cnc-info.sh
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#!/usr/bin/env bash
function drive_info() {
local P="$1"
echo "Device $i "
echo " Device name: $(ethercat -p $P upload --type string 0x1008 0x0)"
echo " Hardware Version: $(ethercat -p $P upload --type string 0x1009 0x0)"
echo " Software Version: $(ethercat -p $P upload --type string 0x100A 0x00)"
echo " Product Code: $(ethercat -p $P upload --type uint32 0x1018 0x02)"
echo " Revision: $(ethercat -p $P upload --type uint32 0x1018 0x03)"
echo " Serial Number: $(ethercat -p $P upload --type uint32 0x1018 0x04)"
echo " Internal Temp.: $(ethercat -p $P upload --type int8 0xF900 0x02) deg"
echo " Motor Supply: $(ethercat -p $P upload --type uint16 0xF900 0x05) mV"
echo " Maximum Current: $(ethercat -p $P upload --type uint16 0x8010 0x01) mV"
echo " Cycle time: $(ethercat -p $P upload --type uint16 0xF900 0x06)"
echo " Actual op. mode: $(ethercat -p $P upload --type uint8 0xA010 0x11)"
echo ""
echo " Ready to enable: $(ethercat -p $P upload --type bool 0x6010 0x01)"
echo " Ready: $(ethercat -p $P upload --type bool 0x6010 0x02)"
echo " Warning: $(ethercat -p $P upload --type bool 0x6010 0x03)"
echo " Error: $(ethercat -p $P upload --type bool 0x6010 0x04)"
echo " Sync Error: $(ethercat -p $P upload --type bool 0x6010 0x0E)"
echo " Ready to enable: $(ethercat -p $P upload --type bool 0x6010 0x01)"
echo " Errors: "
#echo " Saturated: $(ethercat -p $P upload --type bool 0xA010 0x01)"
echo " Over Temperature: $(ethercat -p $P upload --type bool 0xA010 0x02)"
#echo " Torque Temp: $(ethercat -p $P upload --type bool 0xA010 0x03)"
echo " Under Voltage: $(ethercat -p $P upload --type bool 0xA010 0x04)"
echo " Over Voltage: $(ethercat -p $P upload --type bool 0xA010 0x05)"
#echo " Short Circuit A: $(ethercat -p $P upload --type bool 0xA010 0x06)"
#echo " Short Circuit B: $(ethercat -p $P upload --type bool 0xA010 0x07)"
echo " No Control Power: $(ethercat -p $P upload --type bool 0xA010 0x08)"
echo " Misc Error: $(ethercat -p $P upload --type bool 0xA010 0x09)"
echo " Open load A: $(ethercat -p $P upload --type bool 0xA010 0x0A)"
echo " Open load B: $(ethercat -p $P upload --type bool 0xA010 0x0B)"
echo " Over current A: $(ethercat -p $P upload --type bool 0xA010 0x0C)"
echo " Over current B: $(ethercat -p $P upload --type bool 0xA010 0x0D)"
}
D=/run/shm/cnc_info_
for i in 4 5 6; do
drive_info $i > $D$i
done
paste $D* | pr -t -e21
rm -f $D*