<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>:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc 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: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><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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