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</o:shapelayout></xml><![endif]--></head><body lang=EN-NZ link=blue vlink=purple><div class=WordSection1><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'>Just to be extra confusing, “output” and “input” are from the perspective of the master, but “RxPDO” and “TxPDO” are from the perspective of the slave. So “output” == “RxPDO”.<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'>This isn’t unique to Etherlab, BTW, these are the standard EtherCAT definitions, which I think may have been inherited from CANopen.<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'><o:p> </o:p></span></p><div style='border:none;border-left:solid blue 1.5pt;padding:0cm 0cm 0cm 4.0pt'><div><div style='border:none;border-top:solid #B5C4DF 1.0pt;padding:3.0pt 0cm 0cm 0cm'><p class=MsoNormal><b><span lang=EN-US style='font-size:10.0pt;font-family:"Tahoma","sans-serif"'>From:</span></b><span lang=EN-US style='font-size:10.0pt;font-family:"Tahoma","sans-serif"'> etherlab-users-bounces@etherlab.org [mailto:etherlab-users-bounces@etherlab.org] <b>On Behalf Of </b>hamelin.philippe@ireq.ca<br><b>Sent:</b> Tuesday, 22 January 2013 09:48<br><b>To:</b> etherlab-users@etherlab.org<br><b>Subject:</b> [etherlab-users] EL2252: SII eeprom and XML config mismatch<o:p></o:p></span></p></div></div><p class=MsoNormal><o:p> </o:p></p><div><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif"'>Hi,</span><o:p></o:p></p></div><div><p class=MsoNormal> <o:p></o:p></p></div><div><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif"'>I'm having troubles using the Beckhoff EL2252 with Etherlab. According to the documentation and the XML file, I should have 5 sync managers:</span><o:p></o:p></p></div><div><p class=MsoNormal> <o:p></o:p></p></div><div><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif"'>Outputs: </span><o:p></o:p></p></div><div><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif"'>- SM0: DC Sync Activate</span><o:p></o:p></p></div><div><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif"'>- SM1: DC Sync Start</span><o:p></o:p></p></div><div><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif"'>- SM2: Channel 1 & 2 outputs</span><o:p></o:p></p></div><div><p class=MsoNormal> <o:p></o:p></p></div><div><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif"'>Inputs: </span><o:p></o:p></p></div><div><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif"'>- SM3: SysTime and Feedback</span><o:p></o:p></p></div><div><p class=MsoNormal> <o:p></o:p></p></div><div><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif"'>However, when connecting the slave to the Etherlab master I get the following config (which is fixed by the device):</span><o:p></o:p></p></div><div><p class=MsoNormal> <o:p></o:p></p></div><div><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif"'>$ 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</span><o:p></o:p></p></div><div><p class=MsoNormal> <o:p></o:p></p></div><div><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif"'>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:</span><o:p></o:p></p></div><div><p class=MsoNormal> <o:p></o:p></p></div><div><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif"'>a) The SII eeprom isn't correct;</span><o:p></o:p></p></div><div><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif"'>or,</span><o:p></o:p></p></div><div><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif"'>b) I don't understand the meaning of these lines :-)</span><o:p></o:p></p></div><div><p class=MsoNormal> <o:p></o:p></p></div><div><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif"'>Any ideas?</span><o:p></o:p></p></div><div><p class=MsoNormal> <o:p></o:p></p></div><div><p class=MsoNormal><span style='font-size:10.0pt;font-family:"Arial","sans-serif"'>Thank you,</span><o:p></o:p></p></div><div><p class=MsoNormal> <o:p></o:p></p></div><p class=MsoNormal><b><span style='font-size:10.0pt;font-family:"Lucida Sans","sans-serif";color:dimgray'>------------------------------------</span></b><b><span style='font-size:10.0pt;font-family:"Verdana","sans-serif";color:#D26900'><br></span></b><b><span style='font-family:"Lucida Sans","sans-serif";color:#D26900'>Philippe Hamelin</span></b><span style='font-size:8.0pt;font-family:"Verdana","sans-serif";color:#676767'>, ing., M. Ing</span><span style='color:#676767'><br></span><span style='font-size:8.0pt;font-family:"Arial","sans-serif";color:#676767'>Chercheur / Researcher<br><br></span><span style='font-size:8.0pt;font-family:"Arial","sans-serif";color:#D26900'>T</span><span style='font-size:8.0pt;font-family:"Arial","sans-serif";color:#676767'>: 450-652-8499 x2198<br></span><span style='font-size:8.0pt;font-family:"Arial","sans-serif";color:#D26900'>F</span><span style='font-size:8.0pt;font-family:"Arial","sans-serif";color:#676767'>: 450-652-1316<br><br>Expertise robotique et civil<br>Institut de recherche d'Hydro-Québec (IREQ)<br>1740, boul. Lionel-Boulet<br>Varennes (QC) J3X 1S1, Canada</span><o:p></o:p></p><div><p class=MsoNormal> <o:p></o:p></p></div></div></div></body></html>