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<p class=MsoNormal>Hello,<o:p></o:p></p>
<p class=MsoNormal><o:p> </o:p></p>
<p class=MsoNormal><span lang=EN-US>I am using the Profibus-Master device EL6731,
which was configured with TwinCat .<br>
This is how the pdos-entry list looks:<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p>
<p class=MsoPlainText><span lang=EN-US style='font-family:"Courier New"'>SM0:
PhysAddr 0x1000, DefaultSize 384, ControlRegister 0x26, Enable 1<br>
SM1: PhysAddr 0x1180, DefaultSize 384, ControlRegister 0x22, Enable 1<br>
SM2: PhysAddr 0x1300, DefaultSize 0, ControlRegister 0x26, Enable 1<br>
RxPDO 0x1600 "DPS RxPDO-Map Slave 002"<br>
PDO entry 0x7000:02, 160 bit, ""<br>
SM3: PhysAddr 0x1980, DefaultSize 0, ControlRegister 0x22, Enable 1<br>
TxPDO 0x1a00 "DPS TxPDO-Map Slave 002"<br>
PDO entry 0x6000:01, 160 bit, ""<br>
TxPDO 0x1a83 "TxPDO-Map DP Diag"<br>
PDO entry 0xf103:01, 1 bit, ""<br>
PDO entry 0x0000:00, 15 bit, "Gap"<br>
TxPDO 0x1a84 "TxPDO-Map DP Status"<br>
PDO entry 0xf102:01, 8 bit, "State Slave 002"<br>
PDO entry 0x0000:00, 8 bit, "Gap"<br>
TxPDO 0x1a85 "TxPDO-Map DP-Master Diag"<br>
PDO entry 0xf101:01, 16 bit, "Bus Error Counter"<br>
PDO entry 0xf101:02, 16 bit, "Cycle Counter"<br>
PDO entry 0xf101:03, 16 bit, "Slave Status Counter"<br>
PDO entry 0xf101:04, 16 bit, "Cycle Time"<br>
PDO entry 0xf101:05, 16 bit, "Repeat Counter"<br>
PDO entry 0x0000:00, 16 bit, "Gap"<br>
PDO entry 0x0000:00, 16 bit, "Gap"<br>
PDO entry 0x0000:00, 8 bit, "Gap"<br>
PDO entry 0x0000:00, 4 bit, "Gap"<br>
PDO entry 0xf101:14, 1 bit, "Device Diag"<br>
PDO entry 0xf101:15, 1 bit, "Sync Error"<br>
PDO entry 0xf101:16, 1 bit, "Cycle Toggle"<br>
PDO entry 0xf101:17, 1 bit, "Cycle State"<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN-US>I used the ‘cstruct’ option of
CommandLine-Tool for the user-space application. <o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US>And the ./ethercat config -v -a6732 command
shows the following output:<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p>
<p class=MsoPlainText><span lang=EN-US style='font-family:"Courier New"'>Alias:
6732<br>
Position: 0<br>
Vendor Id: 0x00000002<br>
Product code: 0x1a4b3052<br>
Attached slave: 1 (OP)<br>
Watchdog divider: (Default)<br>
Watchdog intervals: (Default)<br>
SM2, Dir: Output, Watchdog: Disable<br>
PDO 0x1600<br>
PDO entry 0x7000:02, 160 bit<br>
SM3, Dir: Input, Watchdog: Disable<br>
PDO 0x1a00<br>
PDO entry 0x6000:01, 160 bit<br>
PDO 0x1a83<br>
PDO entry 0xf103:01, 1 bit<br>
PDO entry 0x0000:00, 15 bit<br>
PDO 0x1a84<br>
PDO entry 0xf102:01, 8 bit<br>
PDO entry 0x0000:00, 8 bit<br>
PDO 0x1a85<br>
PDO entry 0xf101:01, 16 bit<br>
PDO entry 0xf101:02, 16 bit<br>
PDO entry 0xf101:03, 16 bit<br>
PDO entry 0xf101:04, 16 bit<br>
PDO entry 0xf101:05, 16 bit<br>
PDO entry 0x0000:00, 16 bit<br>
PDO entry 0x0000:00, 16 bit<br>
PDO entry 0x0000:00, 8 bit<br>
PDO entry 0x0000:00, 4 bit<br>
PDO entry 0xf101:14, 1 bit<br>
PDO entry 0xf101:15, 1 bit<br>
PDO entry 0xf101:16, 1 bit<br>
PDO entry 0xf101:17, 1 bit<br>
SDO configuration:<br>
None.</span><span lang=EN-US><o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US><br>
Depending on which entry I add to the domain_regs[] array, the pdo regestration
fails, I read wrong values or the values are correct.<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US>Data from 0x6000 and 0x7000 are always
correct, but the others like 0xf101:04 (cycle time) only can read valid data if
some 0x000:00 entry/s are included or excluded from the domain_regs[] array.<br>
<br>
Is the Profibus-Master device configured wrong or do I a mistake?<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN-US>Kind regards<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN-US>Juri Gerke<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN-US>--<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US>AFPT GmbH<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US>Trinkbornstraße 15-17<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US>56281 Doerth<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US>Germany<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN-US>Phone: +49 6747 950185-0 | Fax: +49 6747
950185-9 | Url: www.afpt.de<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p>
<p class=MsoNormal>Amtsgericht Koblenz | HRB 20 638 | USt-IdNr. DE253125882<o:p></o:p></p>
<p class=MsoNormal>Geschäftsführer: Dr.-Ing. Patrick Kölzer, Frank-Andre
Rittenbruch<o:p></o:p></p>
<p class=MsoNormal><o:p> </o:p></p>
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