<div dir="ltr">Hi Jeroen,<div><br></div><div> The motor's SII size is 128 byte , seems cannot hold whole xml file. Maybe I need remove some lines.</div><div> I will try with <span style="font-family:arial,sans-serif;font-size:14px">TwinCAT and update the progress.</span></div>
<div><span style="font-family:arial,sans-serif;font-size:14px"> Thank you so much. Happy Lunar New Year!</span></div><div><span style="font-family:arial,sans-serif;font-size:14px"><br></span></div><div><span style="font-family:arial,sans-serif;font-size:14px">Regards,</span></div>
<div><span style="font-family:arial,sans-serif;font-size:14px">Max </span><br></div></div><div class="gmail_extra"><br><br><div class="gmail_quote">2014-02-04 Jeroen Van den Keybus <span dir="ltr"><<a href="mailto:jeroen.vandenkeybus@gmail.com" target="_blank">jeroen.vandenkeybus@gmail.com</a>></span>:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><div dir="ltr">It looks like your SII only contains the mandatory items. Beckhoff TwinCAT relies on this information in combination with the .XML description file to derive the full config. But EtherLab requires the full config in the SII. You can use the Beckhoff TwinCAT software to create this SII image and write it into the SII EEPROM (provided it is large enough to hold it).<div>
<br></div><div>J.</div><div><br></div></div><div class="gmail_extra"><br><br><div class="gmail_quote">2014-02-04 Zhiyong Weng <span dir="ltr"><<a href="mailto:zhiyong.weng@gmail.com" target="_blank">zhiyong.weng@gmail.com</a>></span>:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><div><div class="h5"><div dir="ltr">Hi ALL,<div><br></div><div> I am newbie for ethercat and trying to use etherlab to exchange data with a motor.</div>
<div><br></div><div> After installing etherlab, I managed to read some device info from the motor, with command line tools, like "ethercat <span style="line-height:19.984375px;font-size:14px;font-family:Helvetica,Arial,'Droid Sans',sans-serif">slaves". also can conduct SDO access successfully.</span></div>
<div><span style="line-height:19.984375px;font-size:14px;font-family:Helvetica,Arial,'Droid Sans',sans-serif"><br></span></div><div><span style="line-height:19.984375px;font-size:14px;font-family:Helvetica,Arial,'Droid Sans',sans-serif"> So I wrote a piece of code to send the PDOs. but failed and get errors in syslog as below. </span></div>
<div><span style="line-height:19.984375px;font-size:14px;font-family:Helvetica,Arial,'Droid Sans',sans-serif"> My guess is the motor's slave controller </span><span style="line-height:19px;font-size:14px;white-space:pre-wrap;font-family:courier,'courier new',monospace">missing sync </span><span style="line-height:19px;font-size:14px;white-space:pre-wrap;font-family:courier,'courier new',monospace">manager(2 and 3) addresses in the SII, as it only show sm0, sm1.</span></div>
<div><span style="line-height:19px;font-size:14px;white-space:pre-wrap;font-family:courier,'courier new',monospace"> But in the xml provied by vendor, it do has 4 sm. file attached.</span></div><div>
<span style="line-height:19px;font-size:14px;white-space:pre-wrap;font-family:courier,'courier new',monospace"> </span></div><div><span style="line-height:19px;font-size:14px;white-space:pre-wrap;font-family:courier,'courier new',monospace"> Pls help!</span></div>
<div><br></div>Regards,<br>Max<div><font color="#0000ff"><span style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px"><br></span></font></div><div><font size="1"><font color="#0000ff">Feb 4 17:59:12 MAX kernel: <a href="tel:%5B13654.005940" value="+13654005940" target="_blank">[13654.005940</a>] EtherCAT DEBUG 0-0: </font><b><font color="#ff0000">Slave does not provide mailbox sync manager configurations.</font></b><br>
<font color="#0000ff">Feb 4 17:59:12 MAX kernel: <a href="tel:%5B13654.005943" value="+13654005943" target="_blank">[13654.005943</a>] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 16, Ctrl 0x26, En 1</font><br><font color="#0000ff">Feb 4 17:59:12 MAX kernel: <a href="tel:%5B13654.005944" value="+13654005944" target="_blank">[13654.005944</a>] EtherCAT DEBUG 0-0: SM1: Addr 0x1900, Size 16, Ctrl 0x22, En 1</font></font></div>
<div><font color="#0000ff" size="1"><br></font></div><div><font color="#0000ff"><b>sm info in xml: </b></font></div><div><font color="#0000ff" size="1"><div><Sm MinSize="6" MaxSize="40" DefaultSize="16" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm></div>
<div><Sm MinSize="6" MaxSize="40" DefaultSize="16" StartAddress="#x1900" ControlByte="#x12" Enable="1">MBoxIn</Sm></div><div><Sm StartAddress="#x1600" ControlByte="#x24" Enable="1">Outputs</Sm></div>
<div><Sm StartAddress="#x1A00" ControlByte="#x10" Enable="1">Inputs</Sm></div></font><div style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;line-height:19.984375px">
<span style="color:rgb(0,0,255);font-size:x-small"> </span><br></div><b>my PDO configure:</b><div style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;line-height:19.984375px">
<pre style="margin-top:0px;margin-bottom:0px"><font size="1"><span style="color:rgb(128,128,0)">const</span><span style="color:rgb(192,192,192)"> </span><span style="color:rgb(128,128,0)">static</span><span style="color:rgb(192,192,192)"> </span><span style="color:rgb(128,0,128)">ec_pdo_entry_reg_t</span><span style="color:rgb(192,192,192)"> </span>domain1_regs<span>[]</span><span style="color:rgb(192,192,192)"> </span><span>=</span><span style="color:rgb(192,192,192)"> </span><span>{</span></font></pre>
<pre style="margin-top:0px;margin-bottom:0px"><font size="1"><span style="color:rgb(192,192,192)"> </span><span>{</span>AliasAndPositon<span>,</span><span style="color:rgb(192,192,192)"> </span>VendorID_ProductCode<span>,</span><span style="color:rgb(192,192,192)"> </span><span style="color:rgb(0,0,128)">0x1A00</span><span>,</span><span style="color:rgb(192,192,192)"> </span><span style="color:rgb(0,0,128)">4</span><span>,</span><span style="color:rgb(192,192,192)"> </span><span>&</span>off_1A00<span>},</span></font></pre>
<pre style="margin-top:0px;margin-bottom:0px"><font size="1"><span style="color:rgb(192,192,192)"> </span><span>{}</span></font></pre>
<pre style="margin-top:0px;margin-bottom:0px"><span><font size="1">};</font></span></pre>
<pre style="margin-top:0px;margin-bottom:0px"><font size="1"><span style="color:rgb(128,0,128)">ec_pdo_entry_info_t</span><span style="color:rgb(192,192,192)"> </span>duetfl80_channel1<span>[]</span><span style="color:rgb(192,192,192)"> </span><span>=</span><span style="color:rgb(192,192,192)"> </span><span>{</span></font></pre>
<pre style="margin-top:0px;margin-bottom:0px"><font size="1"><span style="color:rgb(192,192,192)"> </span><span>{</span><span style="color:rgb(0,0,128)">0x1A00</span><span>,</span><span style="color:rgb(192,192,192)"> </span><span style="color:rgb(0,0,128)">4</span><span>,</span><span style="color:rgb(192,192,192)"> </span><span style="color:rgb(0,0,128)">32</span><span>}</span><span style="color:rgb(192,192,192)"> </span><span style="color:rgb(0,128,0)">//</span><span style="color:rgb(192,192,192)"> </span><span style="color:rgb(0,128,0)">modes_of_operation_display</span></font></pre>
<pre style="margin-top:0px;margin-bottom:0px"><span><font size="1">};</font></span></pre>
<pre style="margin-top:0px;margin-bottom:0px"><font size="1"><span style="color:rgb(128,128,0)">static</span><span style="color:rgb(192,192,192)"> </span><span style="color:rgb(128,0,128)">ec_pdo_info_t</span><span style="color:rgb(192,192,192)"> </span>duetfl80_pdos<span>[]</span><span style="color:rgb(192,192,192)"> </span><span>=</span><span style="color:rgb(192,192,192)"> </span><span>{</span></font></pre>
<pre style="margin-top:0px;margin-bottom:0px"><font size="1"><span style="color:rgb(192,192,192)"> </span><span>{</span><span style="color:rgb(0,0,128)">0x1900</span><span>,</span><span style="color:rgb(0,0,128)">1</span><span style="color:rgb(192,192,192)"> </span><span>,</span><span style="color:rgb(192,192,192)"> </span>duetfl80_channel1<span>}</span><span style="color:rgb(192,192,192)"> </span><span style="color:rgb(0,128,0)">//</span><span style="color:rgb(192,192,192)"> </span><span style="color:rgb(0,128,0)">pdo</span><span style="color:rgb(192,192,192)"> </span><span style="color:rgb(0,128,0)">index</span><span style="color:rgb(192,192,192)"> </span><span style="color:rgb(0,128,0)">input</span><span style="color:rgb(192,192,192)"> </span><span style="color:rgb(0,128,0)">0x1A00?</span></font></pre>
<pre style="margin-top:0px;margin-bottom:0px"><span><font size="1">};</font></span></pre>
<pre style="margin-top:0px;margin-bottom:0px"><font size="1"><span style="color:rgb(128,128,0)">static</span><span style="color:rgb(192,192,192)"> </span><span style="color:rgb(128,0,128)">ec_sync_info_t</span><span style="color:rgb(192,192,192)"> </span>duetfl80_syncs<span>[]</span><span style="color:rgb(192,192,192)"> </span><span>=</span><span style="color:rgb(192,192,192)"> </span><span>{</span></font></pre>
<pre style="margin-top:0px;margin-bottom:0px"><font size="1"><span style="color:rgb(192,192,192)"> </span><span>{</span><span style="color:rgb(0,0,128)">3</span><span>,</span><span style="color:rgb(192,192,192)"> </span><span style="color:rgb(128,0,128)">EC_DIR_INPUT</span><span>,</span><span style="color:rgb(192,192,192)"> </span><span style="color:rgb(0,0,128)">1</span><span>,</span><span style="color:rgb(192,192,192)"> </span>duetfl80_pdos<span>},</span></font></pre>
<pre style="margin-top:0px;margin-bottom:0px"><font size="1"><span style="color:rgb(192,192,192)"> </span><span>{</span><span style="color:rgb(0,0,128)">0xff</span><span>}</span></font></pre>
<pre style="margin-top:0px;margin-bottom:0px"><span><font size="1">};</font></span></pre></div><div style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;line-height:19.984375px"><span style="font-size:14px"><b>ethercat slaves</b></span><br clear="none" style="font-size:14px">
<span style="font-size:14px"><font color="#0000ff">0 0:0 PREOP + 0x000000e4:0x00001133</font></span><span style="color:rgb(0,0,255);font-size:x-small"><br></span></div><div style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;line-height:19.984375px">
<span style="font-size:14px"><font color="#0000ff"><br></font></span></div><div><span style="line-height:19.984375px;font-size:14px;font-family:Helvetica,Arial,'Droid Sans',sans-serif"><b>ethercat slaves -v</b></span><br clear="none" style="font-size:14px">
<font size="1" color="#0000ff">=== Master 0, Slave 0 ===<br>Device: Main<br>State: PREOP<br>Flag: +<br>Identity:<br>Vendor Id: 0x000000e4<br>Product code: 0x00001133<br>Revision number: 0x00020000<br>Serial number: 0x00000000<br>
DL information:<br>FMMU bit operation: no<br>Distributed clocks: no<br>Port Type Link Loop Signal NextSlave<br>0 N/A up open yes -<br>1 N/A down closed no -<br>2 N/A down closed no -<br>3 N/A down closed no -<br>Mailboxes:<br>
Bootstrap RX: 0x0000/0, TX: 0x0000/0<br>Standard RX: 0x1800/16, TX: 0x1900/16<br>Supported protocols: CoE</font><span style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;line-height:19.984375px;font-size:14px"><font color="#0000ff"><br>
</font></span></div><div style="line-height:19.984375px;font-size:14px;font-family:Helvetica,Arial,'Droid Sans',sans-serif"><br></div></div><div><span style="line-height:19.984375px;font-size:14px;font-family:Helvetica,Arial,'Droid Sans',sans-serif"><b>ethercat sii_read -v</b></span></div>
<font color="#0000ff"><span style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">SII Area:</span><br clear="none" style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">
<span style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">08 00 00 08 00 00 00 00 00 00 00 00 00 00 f5 00</span><br clear="none" style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">
<span style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">e4 00 00 00 33 11 00 00 00 00 02 00 00 00 00 00</span><br clear="none" style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">
<span style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00</span><br clear="none" style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">
<span style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">00 18 10 00 00 19 10 00 04 00 00 00 00 00 00 00</span><br clear="none" style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">
<span style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00</span><br clear="none" style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">
<span style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00</span><br clear="none" style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">
<span style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00</span><br clear="none" style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">
<span style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00</span></font><div><font color="#0000ff"><span style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px"><br>
</span></font></div><div><br></div></div>
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<br></blockquote></div><br></div>
</blockquote></div><br></div>