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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Hi Jun and thanks for the reply.<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">The messages with your suggested change modify the resulting error to "Invalid output configuration", but the slave still refuses to switch to “OP”.<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">Ronaldo<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">Mar 12 11:02:38 pc0074 kernel: EtherCAT: Requesting master 0...<o:p></o:p></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.<o:p></o:p></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.<o:p></o:p></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.<o:p></o:p></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.<o:p></o:p></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.<o:p></o:p></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!<o:p></o:p></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.<o:p></o:p></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).<o:p></o:p></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".<o:p></o:p></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.<o:p></o:p></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.<o:p></o:p></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...<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>
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<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""> Jun Yuan [mailto:j.yuan@rtleaders.com]
<br>
<b>Sent:</b> 12 March 2014 09:24<br>
<b>To:</b> Mercado, Ronaldo (DLSLtd,RAL,TEC)<br>
<b>Cc:</b> etherlab-users@etherlab.org<br>
<b>Subject:</b> Re: [etherlab-users] Beckhoff EL2595 AL status message 0x001E: "Invalid input configuration"<o:p></o:p></span></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt"><span style="font-family:"Courier New"">Hello ronaldo,</span><o:p></o:p></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><o:p></o:p></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><o:p></o:p></p>
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<p class="MsoNormal"><span style="font-family:"Courier New"">Regards,</span><o:p></o:p></p>
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<p class="MsoNormal"><span style="font-family:"Courier New"">Jun</span><o:p></o:p></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt"><o:p> </o:p></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt"><o:p> </o:p></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:<o:p></o:p></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">Hello,<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"> <o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">I am struggling with the control the constant current output slave EL2595.<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"> <o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">The unit provides a few PDOs by default, to control the on/off<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">state. I wish to control the current output, (I believe at address 0x7000:11<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">"Output Current"). This should allow a slider to control the dimming of<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">an LED. This is not on the default PDO set.<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"> <o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">I know it's supported because it was demonstrated with TwinCAT. TwinCAT<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">adds it to sync manager 2 with a check box.<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"> <o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">My attempt with the attached c source program fails to set the slave<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">in the "OP" state, and the messages report "Invalid input<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">configuration".<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"> <o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">Could you suggest what to do differently?<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">How do I add the PDO for the current control to the slave?<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"> <o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">Thanks,<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"> <o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">Ronaldo<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span style="color:#888888"> <o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span style="color:#888888"> <o:p></o:p></span></p>
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<p class="MsoNormal"><span class="hoenzb"><o:p> </o:p></span></p>
<p><span style="color:#888888"> </span><o:p></o:p></p>
<p><span style="color:#888888">-- <o:p></o:p></span></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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-- <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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