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Tools

Firmware update

Update the firmware on a device by using dev_host function write_new_firmware. Usage of the firmware updater function requires a valid network configuration.

Note the following:

  • For reliability, when updating the firmware of dev_joint_controller devices the base frequency base_freq_hz must be 500Hz or less.
  • The firmware updater currently only supports a single device on each dev_joint_controller port. If multiple devices are connected to a single dev_joint_controller port, unplug them and install a loop-back connector on the device being programmed.

Unknown Device ID tool

need to start a basic network with host_->network_start(true) True parameter causes network_start to start Ethercat and DC sync, then only initialise any dev_joint_controller devices

Get an unknown device_id with dev_host function node_device_id_get. Usage of the node_device_id_get function requires a valid network configuration.

Note the following:

  • Since the device is unknown, it is not possible to configure it. Start a basic network with dev_host function network_start, with function parameter only_init_jc set to true. This will cause the network to start and only configure the dev_joint_controller device.
  • The device ID tool currently only supports a single device on a single dev_joint_controller. If multiple devices are connected to a single dev_joint_controller port, unplug them and install a loop-back connector on the device under examination.