[etherlab-users] PDOs Mapping

Gavin Lambert gavin.lambert at tomra.com
Wed Feb 12 00:22:45 CET 2020


There isn't any bug in the master related to mapping with subindex 1 - I do it all the time.  It's possible (though very unlikely) it's a bug in the slave's address map - people often forget that the standard object model has SI 0 with 8 bits then 8 bits of additional padding prior to SI 1.  But that rarely matters unless you're using SDO Complete Access, and it's most likely to be something else.


Check the syslog output when you're starting your app with "ethercat debug 1" enabled; see if there's any errors reported while configuring the slave.  Some slaves will reject certain kinds of configuration changes, and then the master and slave will disagree on the contents of a particular SM, leading to communications problems.

It's also possibly notable that you have an 8-bit field in your mapping that is absent in the original mapping.  It's possible that the slave requires padding to align data on 16-bit boundaries.  You may need to add an 8-bit padding field as well.  (Or if the slave doesn't support custom configuration, then you may need to select a PDO to follow it that starts with another 8-bit field.)


Something that is also worthwhile trying is to temporarily change your mapping structures in your app to just omit the pointer component in the slave_0_pdos structures (ie. so that the slave_0_pdo_entries are not used at all).  After that, hard reboot the slave again, run your app long enough for it to configure the domain, and then run "ethercat cstruct" one more time (optionally after exiting your app).

This will make ecrt_slave_config_pdos still perform the PDO reassignment but omit the PDO reconfiguration, which in turn should show you the default PDO configuration of the slave for the PDOs that you're actually using - which is typically what you should actually have in your app code.

(Actually, most slaves will reject PDO config changes, only allowing PDO assign changes.  So it's critically important to ensure that when you call ecrt_slave_config_pdos you pass it the exact same PDO config as the slave already has.  So your final code should include the slave_0_pdo_entries - but they need to be the right entries.)


Gavin Lambert
Senior Software Developer

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From: BUSSIERES Vincent <vincent.bussieres at hemeria-group.com>
Sent: Tuesday, 11 February 2020 22:28
To: Gavin Lambert <gavin.lambert at tomra.com>; etherlab-users at etherlab.org
Subject: RE: PDOs Mapping

I don't think this is an endian issue because when I write controlword (0x6040) with EC_WRITE_U16, the servodrive understand the command.
The command to configure velocity setpoint (0x60ff) is also OK.

It looks like a bug for pdo which doesn't begin à index 0. In my case I encounter this issue only for pdo 0x60fe at index 1.

Mapping seems to be OK, I compare it with default mapping using "ethercat cstruct" command.


The default mapping after a hard reboot :
[cid:image015.jpg at 01D5E198.7E3A82A0]

My application mapping :
[cid:image017.jpg at 01D5E198.7E3A82A0]

Best regards

Vincent BUSSIERES
Responsable Technique Logiciel

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De : Gavin Lambert <gavin.lambert at tomra.com<mailto:gavin.lambert at tomra.com>>
Envoyé : lundi 10 février 2020 23:19
À : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com<mailto:vincent.bussieres at hemeria-group.com>>; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Objet : RE: PDOs Mapping

You're contradicting yourself there, by saying both that the first output is the 16th bit and the 8th bit.

The EC_* macros assume that the slave is using little-endian byte ordering for its multi-byte values, which is the convention on EtherCAT networks (though the opposite of most other network protocols).

If your slave happens to use a different byte ordering, that could explain an unexpected ordering of the output bits, although normally I wouldn't expect a 32-bit value to only be 8-bits "off" if it were an endian issue.

Another possibility is that if you are using the PDO Config structures (usually via ecrt_slave_config_pdos), these may be incorrect (eg. not properly accounting for padding) and may be throwing things off.

A handy thing to try (with your app not running) is to hard reboot the slave and then run "ethercat cstruct" to generate its default configuration, then compare this to your app code.


Gavin Lambert
Senior Software Developer


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From: BUSSIERES Vincent <vincent.bussieres at hemeria-group.com<mailto:vincent.bussieres at hemeria-group.com>>
Sent: Tuesday, 11 February 2020 02:03
To: Gavin Lambert <gavin.lambert at tomra.com<mailto:gavin.lambert at tomra.com>>; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Subject: RE: PDOs Mapping

Thanks, I found the solution to my problem.

Indeed, digital outputs are drivable from the 32 bits object 0x60FE at index 1.
I mapped correctly PDO with index 1 for this object as you can see below.

[cid:image026.jpg at 01D5E198.7E3A82A0]

The first digital output is controled by the 16th bit of the word.
So I need to shift one byte (I presume corresponding to index 0) to drive the output.

EC_WRITE_U32(domain1_pd + off_DigitalOuptut, lValue << 8) ;

Is it the normal behaviour ?

Best regards

Cordialement

Vincent BUSSIERES
Responsable Technique Logiciel

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De : Gavin Lambert <gavin.lambert at tomra.com<mailto:gavin.lambert at tomra.com>>
Envoyé : dimanche 9 février 2020 23:10
À : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com<mailto:vincent.bussieres at hemeria-group.com>>; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Objet : RE: PDOs Mapping

Using only one domain is the normal case.

Some (very old) slaves will require you to use separate domains for input and output data (as they don't support the LRW datagram), but other than that the choice of domains is entirely up to the application.

Typical division points are where you want to have different cycle rates for different slave groups, or if you want to have "hot connect" groups where you can more easily detect whether a given cluster of slaves is present or absent on the network based on whether their domain is being processed or not.

You don't have to use separate domains for this - my app uses a single domain where any of the slaves can potentially drop in and out, and uses a different method to get some slaves processing faster than others - but it does simplify some of these use cases.

I don't think it's likely to be related to the issue you're having.


Have you confirmed that all the PDO mappings were successful, and that the offsets read by your application match those shown in "ethercat domain -v"?  And that you are using these same offsets correctly in the EC_WRITE_* calls?  Don't forget that you have to offset the domain base address with the PDO offset when the former is a uint8_t*, not cast to any other type.  Also, digital output data is usually bitwise, and you may need to take into account bit ordering differences between the master and slave.


Gavin Lambert
Senior Software Developer


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From: BUSSIERES Vincent
Sent: Saturday, 8 February 2020 05:07
To: etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Subject: Re: [etherlab-users] PDOs Mapping

Dear all,

I wonder if the reason of my problem on multi PDO outputs mapping describe below could be because I use only one domain.
In which case should we use several domains ?

Best regards

Vincent BUSSIERES
Responsable Technique Logiciel

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De : Gavin Lambert <gavin.lambert at tomra.com<mailto:gavin.lambert at tomra.com>>
Envoyé : jeudi 6 février 2020 22:52
À : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com<mailto:vincent.bussieres at hemeria-group.com>>; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Objet : RE: PDOs Mapping

I can't speak to the servo drive mapping itself, but as to the other question:

ecrt_slave_config_sdoX is to specify SDO values that should be set during the PREOP -> SAFEOP -> OP transition.  It is intended for any SDO configuration required to bring the device to the intended operational state, especially eg. If the device disconnects or is rebooted during operation.  It must never be used for PDOs - neither for values, nor for the PDO Assign/Config objects.

It is different from the sdo_download requests because the latter only occur once at the time the call is made, while the config_sdo is stored and executed on every later PREOP -> SAFEOP transition (until the master is deactivated).  (These should also never be used for PDOs.)


Gavin Lambert
Senior Software Developer


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From: BUSSIERES Vincent
Sent: Friday, 7 February 2020 09:03
To: etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Subject: [etherlab-users] PDOs Mapping

Dear All,

I mapped the two RxPdo's objects below of my Elmo servodrive.
[cid:image027.jpg at 01D5E198.7E3A82A0]

[cid:image028.jpg at 01D5E198.7E3A82A0]

Mapping seems to be OK
[cid:image029.jpg at 01D5E198.7E3A82A0]

But when I write in digital output PDO, nothing is sent. This PDO is peculiar because digital outputs are witten at subindex 1. I don't know if it's because of that reason.

[cid:image030.jpg at 01D5E198.7E3A82A0]

6 is the value sent in the controlword of the PDO 0x1605 but nothing for digital outputs.

You can see my PDO mapping code in the attached file. I have noticed that some people use « ecrt_slave_config_sdoX » function to clear and define Pdo. Is it necessary and what is the difference between this function and sdo download function ?

Regards

Vincent BUSSIERES
Responsable Technique Logiciel

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