<html><head><style type="text/css"><!-- DIV {margin:0px;} --></style></head><body><div style="font-family:times new roman,new york,times,serif;font-size:12pt"><div>Hello,<br><br>When implementing the ec_rtai example with the evaluation board, I got an error/warning as follow.<br>Each time the warning appears, the output is delayed by a noticeable time!<br>I would like to ask if this is "normal" or I have done something wrong?<br><br>Below is the system log and my declaration.<br><br>Thank you very much in advance!<br>________________________System log_____________________________<br>[ 2300.821853] ec_rtai_sample: Domain1: State 2.<br>[ 2301.021834] EtherCAT 0-0: Acknowledged state SAFEOP.<br>[ 2301.221851] ec_rtai_sample: Domain1: WC 0.<br>[ 2301.221851] ec_rtai_sample: Domain1: State 0.<br>[ 2301.321848] EtherCAT 0: Domain 0: 2 working counter changes - now 0/3.<br>[ 2302.620678] EtherCAT WARNING 0-0: Slave does not support changing the PDO
mapping!<br>[ 2302.620685] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6020:01/1 0x6020:02/1 0x6020:03/2 0x6020:05/2 0x0000:00/8 0x1802:07/1 0x1802:09/1 0x6020:11/16. Entries to map: 0x6020:01/1 0x6020:02/1 0x6020:03/2 0x6020:05/2 0x0000:00/8 0x1802:07/1 0x1802:09/1 0x6020:0B/16<br>[ 2303.221836] EtherCAT 0: Domain 0: Working counter changed to 3/3.<br>[ 2303.221836] ec_rtai_sample: Domain1: WC 3.<br>[ 2303.221836] ec_rtai_sample: Domain1: State 2.<br>[ 2304.020346] EtherCAT 0: Slave states: OP.<br>[ 2337.418073] EtherCAT 0: Domain 0: Working counter changed to 1/3.<br>______________________________Declaration_______________________<br>// offsets for PDO entries<br>static unsigned int off_dig_out1;<br>static unsigned int off_dig_in;<br><br>const static ec_pdo_entry_reg_t domain1_regs[] = {<br> { EL9800SlavePos, Beckhoff_EL9800, 0x7010, 0x01, &off_dig_out1},<br> { EL9800SlavePos, Beckhoff_EL9800, 0x6000,
0x01, &off_dig_in},<br> {}<br>};<br><br>// Digital out ------------------------<br><br>ec_pdo_entry_info_t el9800_channels[] = {<br> {0x7010, 0x01, 1}, /* LED 1 */<br> {0x7010, 0x02, 1}, /* LED 2 */<br> {0x7010, 0x03, 1}, /* LED 3 */<br> {0x7010, 0x04, 1}, /* LED 4 */<br> {0x7010, 0x05, 1}, /* LED 5 */<br> {0x7010, 0x06, 1}, /* LED 6 */<br> {0x7010, 0x07, 1}, /* LED 7 */<br> {0x7010, 0x08, 1}, /* LED 8 */<br> {0x0000, 0x00, 8},<br> {0x6000, 0x01, 1}, /* Switch 1 */<br> {0x6000, 0x02, 1}, /* Switch 2 */<br> {0x6000, 0x03, 1}, /* Switch 3 */<br> {0x6000, 0x04, 1}, /* Switch 4 */<br> {0x6000, 0x05, 1}, /* Switch 5 */<br> {0x6000, 0x06, 1}, /* Switch 6
*/<br> {0x6000, 0x07, 1}, /* Switch 7 */<br> {0x6000, 0x08, 1}, /* Switch 8 */<br> {0x0000, 0x00, 8},<br> {0x6020, 0x01, 1}, /* Underrange */<br> {0x6020, 0x02, 1}, /* Overrange */<br> {0x6020, 0x03, 2}, /* Limit 1 */<br> {0x6020, 0x05, 2}, /* Limit 2 */<br> {0x0000, 0x00, 8},<br> {0x1802, 0x07, 1}, /* TxPDO State */<br> {0x1802, 0x09, 1}, /* TxPDO Toggle */<br> {0x6020, 0x0b, 16}, /* Analog input */<br><br>};<br><br>ec_pdo_info_t el9800_pdos[] = {<br> {0x1601, 9, el9800_channels + 0}, /* DO RxPDO-Map */<br> {0x1a00, 9, el9800_channels + 9}, /* DI TxPDO-Map */<br> {0x1a02, 8, el9800_channels + 18}, /* AI TxPDO-Map */<br>};<br><br>ec_sync_info_t el9800_syncs[] = {<br> {0, EC_DIR_OUTPUT, 0,
NULL, EC_WD_DISABLE},<br> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},<br> {2, EC_DIR_OUTPUT, 1, el9800_pdos + 0, EC_WD_ENABLE},<br> {3, EC_DIR_INPUT, 2, el9800_pdos + 1, EC_WD_DISABLE},<br> {0xff}<br>};<br><br>_____________________output of ethercat config -v__________________<br>ethercat config -v<br>Alias: 0<br>Position: 0<br>Vendor Id: 0xe0000002<br>Product code: 0x26483052<br>Attached slave: 0 (OP)<br>Watchdog divider: (Default)<br>Watchdog intervals: (Default)<br>SM2, Dir: Output, Watchdog: Enable<br> PDO 0x1601<br> PDO entry 0x7010:01, 1 bit<br> PDO entry 0x7010:02, 1 bit<br> PDO entry 0x7010:03, 1 bit<br> PDO entry 0x7010:04, 1 bit<br> PDO entry 0x7010:05, 1 bit<br> PDO entry 0x7010:06, 1 bit<br> PDO entry
0x7010:07, 1 bit<br> PDO entry 0x7010:08, 1 bit<br> PDO entry 0x0000:00, 8 bit<br>SM3, Dir: Input, Watchdog: Disable<br> PDO 0x1a00<br> PDO entry 0x6000:01, 1 bit<br> PDO entry 0x6000:02, 1 bit<br> PDO entry 0x6000:03, 1 bit<br> PDO entry 0x6000:04, 1 bit<br> PDO entry 0x6000:05, 1 bit<br> PDO entry 0x6000:06, 1 bit<br> PDO entry 0x6000:07, 1 bit<br> PDO entry 0x6000:08, 1 bit<br> PDO entry 0x0000:00, 8 bit<br> PDO 0x1a02<br> PDO entry 0x6020:01, 1 bit<br> PDO entry 0x6020:02, 1 bit<br> PDO entry 0x6020:03, 2 bit<br> PDO entry 0x6020:05, 2 bit<br> PDO entry
0x0000:00, 8 bit<br> PDO entry 0x1802:07, 1 bit<br> PDO entry 0x1802:09, 1 bit<br> PDO entry 0x6020:0b, 16 bit<br>SDO configuration:<br> None.<br>IDN configuration:<br> None.<br><br></div>
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