Hi:<br><br>I am a new user in Ethercat field, and have recently developed an application using BechHoff products including encoder EL5101. <br><br>The application seems working fine with an early EL5101 encoder module (product code= &#39;0x13ed3052&#39;, RevisionNo=&#39;0x00010000&#39;). However, the application does not work with new  BechHoff EL5101 encoder module (product code=&#39;0x13ed3052&#39;, RevisionNo=&#39;0x03fb0000&#39;). <br>
<br>The program is running on the RTAI platform.<br><br>Can someone give help on how to solve this problem? Below are parts of related code in my test program.<br><br>===================================<br>domain1_regs[0].alias = 1 ;<br>
domain1_regs[0].position = 0; <br>domain1_regs[0].vendor_id = 0x00000002;<br>domain1_regs[0].product_code =0x13ed3052;<br>domain1_regs[0].index = 0x6000;<br>domain1_regs[0].subindex =2; <br>domain1_regs[0].offset = &amp;ec_io_offset[0];<br>
 <br><br>void run(long data)<br>{<br>    int j ;<br>    int return_value, k ;<br>    unsigned int index_ ;<br><br><br>    while (1) {<br><br>        t_last_cycle = get_cycles();<br>        //printk(KERN_INFO PFX &quot;t_last_cycle: %d\n&quot;,t_last_cycle); <br>
<br>        // receive process data<br>        rt_sem_wait(&amp;master_sem);<br>        ecrt_master_receive(master);<br>        ecrt_domain_process(domain1);<br>        rt_sem_signal(&amp;master_sem);<br><br>        // check process data state (optional)<br>
        check_domain1_state();<br><br>        if (counter) {<br>            counter--;<br>        } else { // do this at 1 Hz<br>            counter = FREQUENCY*60;<br>            // check for master state (optional)<br>            check_master_state();<br>
        }<br><br>        p_ec_io_value-&gt;value[domain1_regs[0].alias] = EC_READ_U16(domain1_pd + ec_io_offset[0]) ;<br><br> <br>        rt_sem_wait(&amp;master_sem);<br>        ecrt_domain_queue(domain1);<br>        ecrt_master_send(master);<br>
        rt_sem_signal(&amp;master_sem);<br>        <br>        rt_task_wait_period();<br>    }<br>}<br><br><br>int __init init_mod(void)<br>{<br>    ......<br>    ......<br><br>    ecrt_master_callbacks(master, request_lock, release_lock, NULL);<br>
    printk(KERN_INFO PFX &quot;Registering domain...\n&quot;);<br>    if (!(domain1 = ecrt_master_create_domain(master))) {<br>        printk(KERN_ERR PFX &quot;Domain creation failed!\n&quot;);<br><br>        goto out_release_master;<br>
    }<br><br>    printk(KERN_INFO PFX &quot;Registering Pdo entries...\n&quot;);<br>    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {<br>        printk(KERN_ERR PFX &quot;Pdo entry registration failed!\n&quot;);<br>
        goto out_release_master;<br>    }<br><br>    printk(KERN_INFO PFX &quot;Activating master...\n&quot;);<br>    if (ecrt_master_activate(master)) {<br>        printk(KERN_ERR PFX &quot;Failed to activate master!\n&quot;);<br>
        goto out_release_master;<br>    }<br><br>    // Get internal process data for domain<br>    domain1_pd = ecrt_domain_data(domain1);<br><br>......<br>......<br>}<br><br>==================================<br><br>After loading the program, encoder slave-status changed happily from preop --&gt; op. However, it only reads encoder value once such as 1296 and then locked there forever. <br>
<br>Thanks in advance for any help.<br><br>Jason Xu<br><br>