<div dir="ltr">hi,<br><br> I give up tring to rewrite eeprom. I follow below post, hardcode esi binary to fsm_sii.c<br> Now etherlab can find the sm2 and sm3.<br> I use "ethercat cstruct" generate the pdo codes. and the code can run without error. (attached source code)<br>
<div><span style="color:rgb(0,0,0);font-family:courier,'courier new',monospace;line-height:19px;white-space:pre-wrap"><br></span></div><div><span style="color:rgb(0,0,0);font-family:courier,'courier new',monospace;line-height:19px;white-space:pre-wrap"> but new problem is pdo data is all zero. and I also find "</span><span style="font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px"><font color="#0000ff">datagram UNMATCHED</font></span><span style="color:rgb(0,0,0);font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">!" </span><span style="color:rgb(0,0,0);font-family:courier,'courier new',monospace;line-height:19px;white-space:pre-wrap">warning in log.</span></div>
<div><span style="color:rgb(0,0,0);font-family:courier,'courier new',monospace;line-height:19px;white-space:pre-wrap"><br></span></div><div><span style="color:rgb(0,0,0);font-family:courier,'courier new',monospace;line-height:19px;white-space:pre-wrap"> pls help.</span></div>
<div><span style="color:rgb(0,0,0);font-family:courier,'courier new',monospace;line-height:19px;white-space:pre-wrap"><br></span></div><div><span style="color:rgb(0,0,0);font-family:courier,'courier new',monospace;line-height:19px;white-space:pre-wrap"> Thank you so much Jeroen.</span></div>
<div><span style="color:rgb(0,0,0);font-family:courier,'courier new',monospace;line-height:19px;white-space:pre-wrap"><br></span></div><div><span style="color:rgb(0,0,0);font-family:courier,'courier new',monospace;line-height:19px;white-space:pre-wrap">Regards,</span></div>
<div><span style="color:rgb(0,0,0);font-family:courier,'courier new',monospace;line-height:19px;white-space:pre-wrap">Max</span></div><div><br></div><div><a href="https://www.mail-archive.com/etherlab-users@etherlab.org/msg00305.html">https://www.mail-archive.com/etherlab-users@etherlab.org/msg00305.html</a><br>
</div><div><br></div><font size="1">Feb 9 18:06:21 MAX kernel: [307207.731351] EtherCAT: Requesting master 0...<br>Feb 9 18:06:21 MAX kernel: [307207.731354] EtherCAT DEBUG 0: IDLE -> OPERATION.<br>Feb 9 18:06:21 MAX kernel: [307207.731355] EtherCAT: Successfully requested master 0.<br>
Feb 9 18:06:21 MAX kernel: [307207.731358] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xffff880194dbc000)<br>Feb 9 18:06:21 MAX kernel: [307207.731360] EtherCAT DEBUG 0: Created domain 0.<br>Feb 9 18:06:21 MAX kernel: [307207.731363] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff880194dbc000, alias = 0, position = 0, vendor_id = 0x000000e4, product_code = 0x00001133)<br>
Feb 9 18:06:21 MAX kernel: [307207.731365] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x000000E4/0x00001133.<br>Feb 9 18:06:21 MAX kernel: [307207.731368] EtherCAT DEBUG 0 0:0: Attached slave 0.<br>Feb 9 18:06:21 MAX kernel: [307207.731405] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff8800a00f9000, sync_index = 0, dir = 1, watchdog_mode = 2)<br>
Feb 9 18:06:21 MAX kernel: [307207.731408] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff8800a00f9000, sync_index = 1, dir = 2, watchdog_mode = 2)<br>Feb 9 18:06:21 MAX kernel: [307207.731410] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff8800a00f9000, sync_index = 2, dir = 1, watchdog_mode = 2)<br>
Feb 9 18:06:21 MAX kernel: [307207.731413] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xffff8800a00f9000, sync_index = 2)<br>Feb 9 18:06:21 MAX kernel: [307207.731417] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xffff8800a00f9000, sync_index = 2, pdo_index = 0x1600)<br>
Feb 9 18:06:21 MAX kernel: [307207.731419] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1600.<br>Feb 9 18:06:21 MAX kernel: [307207.731421] EtherCAT DEBUG 0 0:0: Found PDO name "Outputs".<br>Feb 9 18:06:21 MAX kernel: [307207.731423] EtherCAT DEBUG 0 0:0: Entry 0x6040:00.<br>
Feb 9 18:06:21 MAX kernel: [307207.731424] EtherCAT DEBUG 0 0:0: Entry 0x6060:00.<br>Feb 9 18:06:21 MAX kernel: [307207.731425] EtherCAT DEBUG 0 0:0: Entry 0x6098:00.<br>Feb 9 18:06:21 MAX kernel: [307207.731426] EtherCAT DEBUG 0 0:0: Entry 0x607A:00.<br>
Feb 9 18:06:21 MAX kernel: [307207.731427] EtherCAT DEBUG 0 0:0: Entry 0x60FF:00.<br>Feb 9 18:06:21 MAX kernel: [307207.731428] EtherCAT DEBUG 0 0:0: Entry 0x6071:00.<br>Feb 9 18:06:21 MAX kernel: [307207.731431] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff8800a00f9000, pdo_index = 0x1600)<br>
Feb 9 18:06:21 MAX kernel: [307207.731434] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff8800a00f9000, pdo_index = 0x1600, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)<br>Feb 9 18:06:21 MAX kernel: [307207.731437] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff8800a00f9000, pdo_index = 0x1600, entry_index = 0x6060, entry_subindex = 0x00, entry_bit_length = 8)<br>
Feb 9 18:06:21 MAX kernel: [307207.731440] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff8800a00f9000, pdo_index = 0x1600, entry_index = 0x6098, entry_subindex = 0x00, entry_bit_length = 8)<br>Feb 9 18:06:21 MAX kernel: [307207.731443] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff8800a00f9000, pdo_index = 0x1600, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32)<br>
Feb 9 18:06:21 MAX kernel: [307207.731446] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff8800a00f9000, pdo_index = 0x1600, entry_index = 0x60FF, entry_subindex = 0x00, entry_bit_length = 32)<br>Feb 9 18:06:21 MAX kernel: [307207.731449] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff8800a00f9000, pdo_index = 0x1600, entry_index = 0x6071, entry_subindex = 0x00, entry_bit_length = 16)<br>
Feb 9 18:06:21 MAX kernel: [307207.731452] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff8800a00f9000, sync_index = 3, dir = 2, watchdog_mode = 2)<br>Feb 9 18:06:21 MAX kernel: [307207.731454] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xffff8800a00f9000, sync_index = 3)<br>
Feb 9 18:06:21 MAX kernel: [307207.731457] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xffff8800a00f9000, sync_index = 3, pdo_index = 0x1A00)<br>Feb 9 18:06:21 MAX kernel: [307207.731458] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A00.<br>
Feb 9 18:06:21 MAX kernel: [307207.731460] EtherCAT DEBUG 0 0:0: Found PDO name "Inputs".<br>Feb 9 18:06:21 MAX kernel: [307207.731462] EtherCAT DEBUG 0 0:0: Entry 0x6041:00.<br>Feb 9 18:06:21 MAX kernel: [307207.731463] EtherCAT DEBUG 0 0:0: Entry 0x6064:00.<br>
Feb 9 18:06:21 MAX kernel: [307207.731464] EtherCAT DEBUG 0 0:0: Entry 0x6061:00.<br>Feb 9 18:06:21 MAX kernel: [307207.731465] EtherCAT DEBUG 0 0:0: Entry 0x1001:00.<br>Feb 9 18:06:21 MAX kernel: [307207.731466] EtherCAT DEBUG 0 0:0: Entry 0x606C:00.<br>
Feb 9 18:06:21 MAX kernel: [307207.731467] EtherCAT DEBUG 0 0:0: Entry 0x6077:00.<br>Feb 9 18:06:21 MAX kernel: [307207.731469] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff8800a00f9000, pdo_index = 0x1A00)<br>
Feb 9 18:06:21 MAX kernel: [307207.731472] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff8800a00f9000, pdo_index = 0x1A00, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)<br>Feb 9 18:06:21 MAX kernel: [307207.731474] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff8800a00f9000, pdo_index = 0x1A00, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)<br>
Feb 9 18:06:21 MAX kernel: [307207.731477] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff8800a00f9000, pdo_index = 0x1A00, entry_index = 0x6061, entry_subindex = 0x00, entry_bit_length = 8)<br>Feb 9 18:06:21 MAX kernel: [307207.731480] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff8800a00f9000, pdo_index = 0x1A00, entry_index = 0x1001, entry_subindex = 0x00, entry_bit_length = 8)<br>
Feb 9 18:06:21 MAX kernel: [307207.731483] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff8800a00f9000, pdo_index = 0x1A00, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32)<br>Feb 9 18:06:21 MAX kernel: [307207.731486] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff8800a00f9000, pdo_index = 0x1A00, entry_index = 0x6077, entry_subindex = 0x00, entry_bit_length = 16)<br>
Feb 9 18:06:21 MAX kernel: [307207.731490] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff880194dbc000, alias = 0, position = 0, vendor_id = 0x000000e4, product_code = 0x00001133)<br>Feb 9 18:06:21 MAX kernel: [307207.731493] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff8800a00f9000, index = 0x6060, subindex = 0x00, domain = 0xffff8801b2d7ae00, bit_position = 0xffff880121515ca4)<br>
Feb 9 18:06:21 MAX kernel: [307207.731496] EtherCAT DEBUG 0: Domain 0: Added 14 bytes, total 14.<br>Feb 9 18:06:21 MAX kernel: [307207.731531] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xffff8801b2d7ae00, mem = 0xffffc9001979e000)<br>
Feb 9 18:06:21 MAX kernel: [307207.731534] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xffff880194dbc000, send_cb = 0xffffffffa055e8f0, receive_cb = 0xffffffffa055f020, cb_data = 0xffff880194dbc000)<br>Feb 9 18:06:21 MAX kernel: [307207.731536] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xffff880194dbc000)<br>
Feb 9 18:06:21 MAX kernel: [307207.731539] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.<br>Feb 9 18:06:21 MAX kernel: [307207.731541] EtherCAT 0: Domain0: Logical address 0x00000000, 14 byte, expected working counter 1.<br>
Feb 9 18:06:21 MAX kernel: [307207.731543] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 14 byte, type LWR.<br>Feb 9 18:06:21 MAX kernel: [307207.731544] EtherCAT DEBUG 0: Stopping master thread.<br>
Feb 9 18:06:21 MAX kernel: [307207.731587] EtherCAT DEBUG 0: Master IDLE thread exiting...<br>Feb 9 18:06:21 MAX kernel: [307207.731623] EtherCAT 0: Master thread exited.<br>Feb 9 18:06:21 MAX kernel: [307207.731627] EtherCAT DEBUG 0: FSM datagram is ffff880194dbc678.<br>
Feb 9 18:06:21 MAX kernel: [307207.731628] EtherCAT 0: Starting EtherCAT-OP thread.<br>Feb 9 18:06:21 MAX kernel: [307207.731785] EtherCAT DEBUG 0: mmap()<br>Feb 9 18:06:21 MAX kernel: [307207.731790] EtherCAT DEBUG 0: Vma fault, virtual_address = 00007fb546e08000, offset = 0, page = ffffea0006c38080<br>
Feb 9 18:06:21 MAX kernel: [307207.731812] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000<br>Feb 9 18:06:21 MAX kernel: [307207.731822] EtherCAT WARNING 0: 1 datagram UNMATCHED!<br>
Feb 9 18:06:22 MAX kernel: [307208.742647] EtherCAT DEBUG 0: Datagram ffff88012daee258 already queued (skipping).<br>Feb 9 18:06:23 MAX kernel: [307209.752308] EtherCAT WARNING: Datagram ffff88012daee258 (domain0-0-main) was SKIPPED 1 time.<br>
Feb 9 18:06:23 MAX kernel: [307209.752379] EtherCAT DEBUG 0: Datagram ffff88012daee258 already queued (skipping).<br>Feb 9 18:06:24 MAX kernel: [307210.761948] EtherCAT WARNING: Datagram ffff88012daee258 (domain0-0-main) was SKIPPED 1 time.<br>
Feb 9 18:06:24 MAX kernel: [307210.762016] EtherCAT DEBUG 0: Datagram ffff88012daee258 already queued (skipping).<br>Feb 9 18:06:25 MAX kernel: [307211.771628] EtherCAT WARNING: Datagram ffff88012daee258 (domain0-0-main) was SKIPPED 1 time.<br>
Feb 9 18:06:25 MAX kernel: [307211.771691] EtherCAT DEBUG 0: Datagram ffff88012daee258 already queued (skipping).<br>Feb 9 18:06:26 MAX kernel: [307212.781304] EtherCAT WARNING: Datagram ffff88012daee258 (domain0-0-main) was SKIPPED 1 time.<br>
Feb 9 18:06:26 MAX kernel: [307212.781366] EtherCAT DEBUG 0: Datagram ffff88012daee258 already queued (skipping).<br>Feb 9 18:06:27 MAX kernel: [307213.791026] EtherCAT WARNING: Datagram ffff88012daee258 (domain0-0-main) was SKIPPED 1 time.<br>
Feb 9 18:06:27 MAX kernel: [307213.791094] EtherCAT DEBUG 0: Datagram ffff88012daee258 already queued (skipping).<br>Feb 9 18:06:28 MAX kernel: [307214.800652] EtherCAT WARNING: Datagram ffff88012daee258 (domain0-0-main) was SKIPPED 1 time.<br>
Feb 9 18:06:28 MAX kernel: [307214.800713] EtherCAT DEBUG 0: Datagram ffff88012daee258 already queued (skipping).<br>Feb 9 18:06:28 MAX kernel: [307215.024247] EtherCAT 0: Releasing master...<br>Feb 9 18:06:28 MAX kernel: [307215.024251] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0xffff880194dbc000)<br>
Feb 9 18:06:28 MAX kernel: [307215.024253] EtherCAT DEBUG 0: Stopping master thread.<br>Feb 9 18:06:28 MAX kernel: [307215.024266] EtherCAT DEBUG 0: Master OP thread exiting...<br>Feb 9 18:06:28 MAX kernel: [307215.024344] EtherCAT 0: Master thread exited.<br>
Feb 9 18:06:28 MAX kernel: [307215.024353] EtherCAT 0: Starting EtherCAT-IDLE thread.<br>Feb 9 18:06:28 MAX kernel: [307215.024403] EtherCAT DEBUG 0: OPERATION -> IDLE.<br>Feb 9 18:06:28 MAX kernel: [307215.024406] EtherCAT 0: Released.<br>
Feb 9 18:06:28 MAX kernel: [307215.024408] EtherCAT DEBUG 0: Idle thread running with send interval = 4000 us, max data size=45000<br>Feb 9 18:06:28 MAX kernel: [307215.024417] EtherCAT DEBUG 0: UNMATCHED datagram:<br>Feb 9 18:06:28 MAX kernel: [307215.024420] EtherCAT DEBUG: 0B 12 00 00 00 00 0E 00 00 00 00 00 00 00 00 00 <br>
Feb 9 18:06:28 MAX kernel: [307215.024431] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 <br>Feb 9 18:06:28 MAX kernel: [307215.024440] EtherCAT DEBUG 0: UNMATCHED datagram:<br>Feb 9 18:06:28 MAX kernel: [307215.024442] EtherCAT DEBUG: 0B 13 00 00 00 00 0E 00 00 00 00 00 00 00 00 00 <br>
Feb 9 18:06:28 MAX kernel: [307215.024451] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 <br>Feb 9 18:06:28 MAX kernel: [307215.024457] EtherCAT DEBUG 0: UNMATCHED datagram:<br>Feb 9 18:06:28 MAX kernel: [307215.024458] EtherCAT DEBUG: 0B 14 00 00 00 00 0E 00 00 00 00 00 00 00 00 00 <br>
Feb 9 18:06:28 MAX kernel: [307215.024466] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 <br>Feb 9 18:06:28 MAX kernel: [307215.024471] EtherCAT DEBUG 0: UNMATCHED datagram:<br>Feb 9 18:06:28 MAX kernel: [307215.024472] EtherCAT DEBUG: 0B 15 00 00 00 00 0E 00 00 00 00 00 00 00 00 00 <br>
Feb 9 18:06:28 MAX kernel: [307215.024480] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 <br>Feb 9 18:06:28 MAX kernel: [307215.024485] EtherCAT DEBUG 0: UNMATCHED datagram:<br>Feb 9 18:06:28 MAX kernel: [307215.024486] EtherCAT DEBUG: 0B 16 00 00 00 00 0E 00 00 00 00 00 00 00 00 00 <br>
Feb 9 18:06:28 MAX kernel: [307215.024494] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 <br>Feb 9 18:06:28 MAX kernel: [307215.024499] EtherCAT DEBUG 0: UNMATCHED datagram:<br>Feb 9 18:06:28 MAX kernel: [307215.024500] EtherCAT DEBUG: 0B 17 00 00 00 00 0E 00 00 00 00 00 00 00 00 00 <br>
Feb 9 18:06:28 MAX kernel: [307215.024507] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 <br>Feb 9 18:06:28 MAX kernel: [307215.024513] EtherCAT DEBUG 0: UNMATCHED datagram:<br>Feb 9 18:06:28 MAX kernel: [307215.024514] EtherCAT DEBUG: 0B 18 00 00 00 00 0E 00 00 00 00 00 00 00 00 00 <br>
Feb 9 18:06:28 MAX kernel: [307215.024521] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 <br>Feb 9 18:06:28 MAX kernel: [307215.024527] EtherCAT DEBUG 0: UNMATCHED datagram:<br>Feb 9 18:06:28 MAX kernel: [307215.024528] EtherCAT DEBUG: 0B 19 00 00 00 00 0E 00 00 00 00 00 00 00 00 00 <br>
Feb 9 18:06:28 MAX kernel: [307215.024536] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 <br>Feb 9 18:06:28 MAX kernel: [307215.024542] EtherCAT DEBUG 0: Configuration changed.<br>Feb 9 18:06:28 MAX kernel: [307215.024544] EtherCAT DEBUG 0: No app_time received up to now.<br>
Feb 9 18:06:28 MAX kernel: [307215.031381] EtherCAT DEBUG 0-0: Changing state from PREOP to PREOP (forced).<br>Feb 9 18:06:28 MAX kernel: [307215.031385] EtherCAT DEBUG 0-0: Configuring...<br>Feb 9 18:06:28 MAX kernel: [307215.031682] EtherCAT DEBUG 0-0: Now in INIT.<br>
Feb 9 18:06:28 MAX kernel: [307215.031683] EtherCAT DEBUG 0-0: Clearing FMMU configurations...<br>Feb 9 18:06:28 MAX kernel: [307215.031799] EtherCAT DEBUG 0-0: Clearing sync manager configurations...<br>Feb 9 18:06:28 MAX kernel: [307215.031916] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...<br>
Feb 9 18:06:28 MAX kernel: [307215.031920] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 16, Ctrl 0x26, En 1<br>Feb 9 18:06:28 MAX kernel: [307215.031922] EtherCAT DEBUG 0-0: SM1: Addr 0x1900, Size 16, Ctrl 0x12, En 1<br>
Feb 9 18:06:28 MAX kernel: [307215.032281] EtherCAT DEBUG 0-0: Now in PREOP.<br>Feb 9 18:06:28 MAX kernel: [307215.032283] EtherCAT DEBUG 0-0: Finished configuration.<br>Feb 9 18:06:44 MAX AptDaemon: INFO: Quitting due to inactivity<br>
Feb 9 18:06:44 MAX AptDaemon: INFO: Quitting was requested<br>Feb 9 18:06:44 MAX dbus[858]: [system] Activating service name='org.debian.apt' (using servicehelper)<br>Feb 9 18:06:45 MAX AptDaemon: INFO: Initializing daemon<br>
Feb 9 18:06:45 MAX dbus[858]: [system] Successfully activated service 'org.debian.apt'<br>Feb 9 18:06:45 MAX AptDaemon.PackageKit: INFO: Initializing PackageKit compat layer</font><div class="gmail_extra"><br><br>
<div class="gmail_quote">2014-02-09 19:46 GMT+08:00 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:0px 0px 0px 0.8ex;border-left-width:1px;border-left-color:rgb(204,204,204);border-left-style:solid;padding-left:1ex">
<div dir="ltr">The 0x0700 at word offset 0x3e normally indicates that your EEPROM size is 1kB. Still, the master seems to assume 128 bytes. Please check the dmesg log after the device scan is performed.<div><br></div><div>
<div>J.</div></div></div><div class="gmail_extra"><br><br><div class="gmail_quote">2014-02-09 9:08 GMT+01:00 Zhiyong Weng <span dir="ltr"><<a href="mailto:zhiyong.weng@gmail.com" target="_blank">zhiyong.weng@gmail.com</a>></span>:<div>
<div class="h5"><br>
<blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left-width:1px;border-left-color:rgb(204,204,204);border-left-style:solid;padding-left:1ex"><div dir="ltr">Hi,<div> </div><div> I have new problem. "sii_write" can not update slaves's sii.</div>
<div> </div><div> I generated new sii binary file (1024 byte), base on xml file in twincat.</div><div>
use etherlab cmd "sii_write" write the bin file to slave without any error info.</div><div><font color="#0000ff">sudo ./ethercat sii_write -p 0 sii-new.bin</font><br></div><div> power off motor and restart etherlab, power on motor.</div>
<div><br></div><div> check slave's sii content, still same. it is 128 byes. </div><div><br></div><div> sudo ./ethercat sii_read -v</div><div>SII Area:</div><div> 08 00 00 08 00 00 00 00 00 00 00 00 00 00 f5 00</div>
<div> e4 00 00 00 33 11 00 00 00 00 02 00 00 00 00 00</div><div> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00</div><div> 00 18 10 00 00 19 10 00 04 00 00 00 00 00 00 00</div><div> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00</div>
<div> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00</div><div> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00</div><div> 00 00 00 00 00 00 00 00 00 00 00 00 07 00 01 00</div><div><br></div><div> </div><div>Regards,</div>
<div>Max</div><div> </div><div> </div></div><div class="gmail_extra"><br><br><div class="gmail_quote">2014-02-04 19:01 GMT+08:00 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:0px 0px 0px 0.8ex;border-left-width:1px;border-left-color:rgb(204,204,204);border-left-style: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:0px 0px 0px 0.8ex;border-left-width:1px;border-left-color:rgb(204,204,204);border-left-style:solid;padding-left:1ex"><div><div><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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