<div dir="ltr"><div><div><div>Hello Ronaldo,<br><br></div>glad to hear that you have your problem resolved. <br><br></div>Generally, you can refer to the XML Device Description file from Beckhoff to check whether a object can be mapped into pdo entry (looking for the tag <PdoMapping>), and whether the RxPDO or TxPDO mapping can be changed (attribute Fixed="1" means not changeable)<br>
<br></div><div>Regards,<br>Jun<br></div><div><br></div></div><div class="gmail_extra"><br><br><div class="gmail_quote">On Wed, Mar 12, 2014 at 1:12 PM, <span dir="ltr"><<a href="mailto:ronaldo.mercado@diamond.ac.uk" target="_blank">ronaldo.mercado@diamond.ac.uk</a>></span> wrote:<br>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">Hello again and thanks to Jun for pointing me in the right direction.<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d"><u></u> <u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">I changed the second set of PDO mappings to one entry only {0x7000, 0x11, 16} and the slave accepted to go into “OP”.<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d"><u></u> <u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">Ronaldo<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d"><u></u> <u></u></span></p>
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<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif"" lang="EN-US">From:</span></b><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif"" lang="EN-US"> <a href="mailto:ronaldo.mercado@diamond.ac.uk" target="_blank">ronaldo.mercado@diamond.ac.uk</a> [mailto:<a href="mailto:ronaldo.mercado@diamond.ac.uk" target="_blank">ronaldo.mercado@diamond.ac.uk</a>]
<br>
<b>Sent:</b> 12 March 2014 11:14<br>
<b>To:</b> <a href="mailto:j.yuan@rtleaders.com" target="_blank">j.yuan@rtleaders.com</a></span></p><div><div class="h5"><br>
<b>Cc:</b> <a href="mailto:etherlab-users@etherlab.org" target="_blank">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> Re: [etherlab-users] Beckhoff EL2595 AL status message 0x001E: "Invalid input configuration"<u></u><u></u></div></div><p></p>
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<p class="MsoNormal"><u></u> <u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">Hi Jun and thanks for the reply.<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d"><u></u> <u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">The messages with your suggested change modify the resulting error to "Invalid output configuration", but the slave still refuses to switch to “OP”.<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d"><u></u> <u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">Ronaldo<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d"><u></u> <u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">Mar 12 11:02:38 pc0074 kernel: EtherCAT: Requesting master 0...<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">Mar 12 11:02:38 pc0074 kernel: EtherCAT: Successfully requested master 0.<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">Mar 12 11:02:38 pc0074 kernel: EtherCAT 0: Domain0: Logical address 0x00000000, 12 byte, expected working counter 1.<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">Mar 12 11:02:38 pc0074 kernel: EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 12 byte, type LWR.<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">Mar 12 11:02:38 pc0074 kernel: EtherCAT 0: Master thread exited.<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">Mar 12 11:02:38 pc0074 kernel: EtherCAT 0: Starting EtherCAT-OP thread.<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">Mar 12 11:02:38 pc0074 kernel: EtherCAT WARNING 0: 1 datagram UNMATCHED!<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">Mar 12 11:02:38 pc0074 kernel: EtherCAT WARNING 0: No app_time received up to now, but master already active.<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">Mar 12 11:02:39 pc0074 kernel: EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">Mar 12 11:02:39 pc0074 kernel: EtherCAT ERROR 0-1: AL status message 0x001D: "Invalid output configuration".<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">Mar 12 11:02:39 pc0074 kernel: EtherCAT 0-1: Acknowledged state PREOP.<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">Mar 12 11:02:39 pc0074 kernel: EtherCAT 0: Slave states on main device: PREOP, OP.<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d">Mar 12 11:03:40 pc0074 kernel: EtherCAT 0: Releasing master...<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1f497d"><u></u> <u></u></span></p>
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<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif"" lang="EN-US">From:</span></b><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif"" lang="EN-US"> Jun Yuan [<a href="mailto:j.yuan@rtleaders.com" target="_blank">mailto:j.yuan@rtleaders.com</a>]
<br>
<b>Sent:</b> 12 March 2014 09:24<br>
<b>To:</b> Mercado, Ronaldo (DLSLtd,RAL,TEC)<br>
<b>Cc:</b> <a href="mailto:etherlab-users@etherlab.org" target="_blank">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> Re: [etherlab-users] Beckhoff EL2595 AL status message 0x001E: "Invalid input configuration"<u></u><u></u></span></p>
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<p class="MsoNormal"><u></u> <u></u></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt"><span style="font-family:"Courier New"">Hello ronaldo,</span><u></u><u></u></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt"><span style="font-family:"Courier New"">@@ -73,7 +73,7 @@<br>
ec_sync_info_t slave_1_syncs[] = { <br>
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, <br>
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, <br>
{2, EC_DIR_OUTPUT, 2, slave_1_pdos + 0, EC_WD_DISABLE}, <br>
- {3, EC_DIR_INPUT, 1, slave_1_pdos + 1, EC_WD_DISABLE}, <br>
+ {3, EC_DIR_INPUT, 1, slave_1_pdos + 2, EC_WD_DISABLE}, <br>
{0xff} <br>
};</span><u></u><u></u></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt"><span style="font-family:"Courier New"">To avoid such a mistake, it would be better to seperate the rxpdo and txpdo, using slave_1_rxpdos[] and slave_1_txpdos[] instead of only one slave_1_pdos[]</span><u></u><u></u></p>
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<p class="MsoNormal"><span style="font-family:"Courier New"">Regards,</span><u></u><u></u></p>
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<p class="MsoNormal"><span style="font-family:"Courier New"">Jun</span><u></u><u></u></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt"><u></u> <u></u></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt"><u></u> <u></u></p>
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<p class="MsoNormal">On Tue, Mar 11, 2014 at 7:13 PM, <<a href="mailto:ronaldo.mercado@diamond.ac.uk" target="_blank">ronaldo.mercado@diamond.ac.uk</a>> wrote:<u></u><u></u></p>
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<p class="MsoNormal">Hello,<u></u><u></u></p>
<p class="MsoNormal"> <u></u><u></u></p>
<p class="MsoNormal">I am struggling with the control the constant current output slave EL2595.<u></u><u></u></p>
<p class="MsoNormal"> <u></u><u></u></p>
<p class="MsoNormal">The unit provides a few PDOs by default, to control the on/off<u></u><u></u></p>
<p class="MsoNormal">state. I wish to control the current output, (I believe at address 0x7000:11<u></u><u></u></p>
<p class="MsoNormal">"Output Current"). This should allow a slider to control the dimming of<u></u><u></u></p>
<p class="MsoNormal">an LED. This is not on the default PDO set.<u></u><u></u></p>
<p class="MsoNormal"> <u></u><u></u></p>
<p class="MsoNormal">I know it's supported because it was demonstrated with TwinCAT. TwinCAT<u></u><u></u></p>
<p class="MsoNormal">adds it to sync manager 2 with a check box.<u></u><u></u></p>
<p class="MsoNormal"> <u></u><u></u></p>
<p class="MsoNormal">My attempt with the attached c source program fails to set the slave<u></u><u></u></p>
<p class="MsoNormal">in the "OP" state, and the messages report "Invalid input<u></u><u></u></p>
<p class="MsoNormal">configuration".<u></u><u></u></p>
<p class="MsoNormal"> <u></u><u></u></p>
<p class="MsoNormal">Could you suggest what to do differently?<u></u><u></u></p>
<p class="MsoNormal">How do I add the PDO for the current control to the slave?<u></u><u></u></p>
<p class="MsoNormal"> <u></u><u></u></p>
<p class="MsoNormal">Thanks,<u></u><u></u></p>
<p class="MsoNormal"> <u></u><u></u></p>
<p class="MsoNormal">Ronaldo<u></u><u></u></p>
<p class="MsoNormal"><span style="color:#888888"> <u></u><u></u></span></p>
<p class="MsoNormal"><span style="color:#888888"> <u></u><u></u></span></p>
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<p class="MsoNormal"><span><u></u> <u></u></span></p>
<p><span style="color:#888888"> </span><u></u><u></u></p>
<p><span style="color:#888888">-- <u></u><u></u></span></p>
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<p class="MsoNormal"><u></u> <u></u></p>
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<br>
-- <br>
Jun Yuan<br>
[Aussprache: Djün Üän]<br>
<br>
Robotics Technology Leaders GmbH<br>
Am Loferfeld 58, D-81249 München<br>
Tel: <a href="tel:%2B49%2089%20189%200465%2024" value="+4989189046524" target="_blank">+49 89 189 0465 24</a><br>
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mailto: <a href="mailto:j.yuan@rtleaders.com" target="_blank">j.yuan@rtleaders.com</a><br>
<br>
Umlautregel in der chinesischen Lautschrift Pinyin: Nach den Anlauten y, j, q, und x wird u als ü ausgesprochen, z.B. yu => ü, ju => dschü, qu => tschü, xu => schü.
<u></u><u></u></p>
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</blockquote></div><br><br clear="all"><br>-- <br>Jun Yuan<br>[Aussprache: Djün Üän]<br><br>Robotics Technology Leaders GmbH<br>Am Loferfeld 58, D-81249 München<br>Tel: +49 89 189 0465 24<br>Fax: +49 89 189 0465 11<br>mailto: <a href="mailto:j.yuan@rtleaders.com" target="_blank">j.yuan@rtleaders.com</a><br>
<br>Umlautregel in der chinesischen Lautschrift Pinyin: Nach den Anlauten y, j, q, und x wird u als ü ausgesprochen, z.B. yu => ü, ju => dschü, qu => tschü, xu => schü.
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