<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
<HTML><HEAD>
<META content="text/html; charset=iso-8859-1" http-equiv=Content-Type>
<META name=GENERATOR content="MSHTML 8.00.6001.19394"></HEAD>
<BODY>
<DIV><SPAN class=277013620-21012013><FONT size=2
face=Arial>Hi,</FONT></SPAN></DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2
face=Arial></FONT></SPAN> </DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2 face=Arial>I'm having troubles
using the Beckhoff EL2252 with Etherlab. According to the documentation and the
XML file, I should have 5 sync managers:</FONT></SPAN></DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2
face=Arial></FONT></SPAN> </DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2 face=Arial>Outputs:
</FONT></SPAN></DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2 face=Arial>- SM0: DC Sync
Activate</FONT></SPAN></DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2 face=Arial>- SM1: DC Sync
Start</FONT></SPAN></DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2 face=Arial>- SM2: Channel 1
& 2 outputs</FONT></SPAN></DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2
face=Arial></FONT></SPAN> </DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2 face=Arial>Inputs:
</FONT></SPAN></DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2 face=Arial>- SM3: SysTime and
Feedback</FONT></SPAN></DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2
face=Arial></FONT></SPAN> </DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2 face=Arial>However, when
connecting the slave to the Etherlab master I get the following config (which is
fixed by the device):</FONT></SPAN></DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2
face=Arial></FONT></SPAN> </DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2 face=Arial>$ ethercat -p 1
pdo<BR>SM0: PhysAddr 0x0981, DefaultSize 0, ControlRegister
0x00, Enable 12<BR> TxPDO 0x1602 "DC Sync Activate"<BR>
PDO entry 0x1d09:81, 8 bit, "Activate"<BR>SM1: PhysAddr 0x0990,
DefaultSize 0, ControlRegister 0x00, Enable 4<BR> TxPDO
0x1603 "DC Sync Start"<BR> PDO entry 0x1d09:90, 64 bit,
"StartTime"<BR>SM2: PhysAddr 0x0f00, DefaultSize 0,
ControlRegister 0x44, Enable 9<BR> RxPDO 0x1600 "Channel
1"<BR> PDO entry 0x7000:01, 1 bit,
"Output"<BR> PDO entry 0x7000:02, 1 bit,
"TriState"<BR> RxPDO 0x1601 "Channel 2"<BR> PDO entry
0x7010:01, 1 bit, "Output"<BR> PDO entry
0x7010:02, 1 bit, "TriState"<BR> PDO entry
0x0000:00, 4 bit, ""<BR> RxPDO 0x1604 "Reserved"<BR>SM3: PhysAddr
0x0910, DefaultSize 0, ControlRegister 0x00, Enable 4<BR>SM4:
PhysAddr 0x1000, DefaultSize 0, ControlRegister 0x00, Enable
4</FONT></SPAN></DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2
face=Arial></FONT></SPAN> </DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2 face=Arial>Is doesn't make any
sense to me that SM2 is a RxPDO since this is the output state that the master
should provides. Moreover, the PDO mapping is fixed by the device so I
can't configure my own mapping. I see two possibles
problems:</FONT></SPAN></DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2
face=Arial></FONT></SPAN> </DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2 face=Arial>a) The SII
eeprom isn't correct;</FONT></SPAN></DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2
face=Arial>or,</FONT></SPAN></DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2 face=Arial>b) I don't
understand the meaning of these lines :-)</FONT></SPAN></DIV>
<DIV><FONT size=2 face=Arial></FONT><FONT size=2 face=Arial></FONT> </DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2 face=Arial>Any
ideas?</FONT></SPAN></DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2
face=Arial></FONT></SPAN> </DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2 face=Arial>Thank
you,</FONT></SPAN></DIV>
<DIV><SPAN class=277013620-21012013><FONT size=2
face=Arial></FONT></SPAN> </DIV>
<DIV align=left><SPAN
style="FONT-FAMILY: Lucida Sans; COLOR: rgb(210,105,0); FONT-SIZE: 10pt"><SPAN
style="COLOR: rgb(105,105,105)"><SPAN
style="FONT-WEIGHT: bold">------------------------------------</SPAN></SPAN></SPAN><SPAN
style="FONT-FAMILY: Verdana; COLOR: rgb(210,105,0); FONT-SIZE: 10pt; FONT-WEIGHT: bold"><BR><SPAN
style="FONT-FAMILY: Lucida Sans; COLOR: rgb(210,105,0); FONT-SIZE: 12pt">Philippe
Hamelin</SPAN></SPAN><SPAN
style="FONT-FAMILY: Verdana; COLOR: rgb(103,103,103); FONT-SIZE: 8pt"><SPAN
style="FONT-SIZE: 8pt">, ing., M. Ing</SPAN></SPAN><BR
style="COLOR: rgb(103,103,103)"><SPAN
style="COLOR: rgb(103,103,103); FONT-SIZE: 8pt"><SPAN
style="FONT-FAMILY: Arial; FONT-SIZE: 8pt">Chercheur / Researcher</SPAN><BR
style="FONT-FAMILY: Arial"><BR style="FONT-FAMILY: Arial"><SPAN
style="FONT-FAMILY: Arial; FONT-SIZE: 8pt"><SPAN
style="COLOR: rgb(210,105,0)">T</SPAN>: 450-652-8499 x2198</SPAN><BR
style="FONT-FAMILY: Arial"><SPAN
style="FONT-FAMILY: Arial; FONT-SIZE: 8pt"><SPAN
style="COLOR: rgb(210,105,0)">F</SPAN>: 450-6<SPAN
style="FONT-SIZE: 8pt">52-1316</SPAN></SPAN><BR style="FONT-FAMILY: Arial"><BR
style="FONT-FAMILY: Arial"><SPAN
style="FONT-FAMILY: Arial; FONT-SIZE: 8pt">Expertise robotique et
civil<BR>Institut de recherche d'Hydro-Québec (IREQ)<BR>1740, boul.
Lionel-Boulet<BR>Varennes (QC) J3X 1S1, Canada</SPAN></SPAN><BR
style="COLOR: rgb(103,103,103)"></DIV><SPAN
style="FONT-FAMILY: monospace; COLOR: rgb(210,105,0); FONT-SIZE: 10pt"><SPAN
style="COLOR: rgb(105,105,105)"><SPAN
style="FONT-WEIGHT: bold"></SPAN></SPAN></SPAN>
<DIV> </DIV></BODY></HTML>