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<div>Has anyone implemented the Beckhoff EL6001 RS232 and EL6021 Modbus interfaces with the etherlab 1.5.2 master? I am having some trouble with both of the devices and I think the same issue is happening with both modules.</div>
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<div>I am able to initialize each of the devices using the ctrl and status register bits doing the initialization sequence. Also, I can set 4073, 4074, 4075 SDO registers for configuration on the port with setting the baud rate, data frame, etc.. </div>
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<div>Where I am failing is to actually send out the data. Using the structure output from the ethercat tool in the ethercat 1.5.2 / tool folder, I get the following for PDO outputs:</div>
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<div style="margin: 0px; font-size: 9px; color: rgb(78, 144, 114);">// EL6021 PDO entries</div>
<div style="margin: 0px; font-size: 9px;"><span style="color: rgb(0, 97, 65);">ec_pdo_entry_info_t</span> EL60XX_pdo_entries[] = {</div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x01, 16},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* </span><span style="text-decoration: underline; color: rgb(78, 144, 114);">Ctrl</span><span style="color: rgb(78, 144, 114);"> */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x02, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 0 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x03, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 1 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x04, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 2 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x05, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 3 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x06, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 4 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x07, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 5 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x08, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 6 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x09, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 7 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x0a, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 8 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x0b, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 9 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x0c, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 10 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x0d, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 11 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x0e, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 12 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x0f, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 13 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x10, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 14 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x11, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 15 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x12, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 16 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x13, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 17 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x14, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 18 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x15, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 19 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x16, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 20 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3003, 0x17, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data Out 21 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x01, 16},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Status */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x02, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 0 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x03, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 1 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x04, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 2 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x05, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 3 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x06, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 4 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x07, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 5 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x08, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 6 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x09, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 7 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x0a, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 8 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x0b, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 9 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x0c, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 10 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x0d, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 11 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x0e, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 12 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x0f, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 13 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x10, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 14 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x11, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 15 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x12, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 16 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x13, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 17 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x14, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 18 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x15, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 19 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x16, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 20 */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x3103, 0x17, 8},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* Data In 21 */</span></div>
<div style="margin: 0px; font-size: 9px;">};</div>
<div style="margin: 0px; font-size: 9px; min-height: 11px;"><br>
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<div style="margin: 0px; font-size: 9px; color: rgb(78, 144, 114);">// EL6021 PDO information</div>
<div style="margin: 0px; font-size: 9px;"><span style="color: rgb(0, 97, 65);">ec_pdo_info_t</span> EL60XX_pdos[] = {</div>
<div style="margin: 0px; font-size: 9px;"> {0x1602, 23, EL60XX_pdo_entries + 0},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* RxPDO-Map Outputs */</span></div>
<div style="margin: 0px; font-size: 9px;"> {0x1a02, 23, EL60XX_pdo_entries + 23},<span class="Apple-tab-span" style="white-space: pre;">
</span><span style="color: rgb(78, 144, 114);">/* TxPDO-Map Inputs */</span></div>
<div style="margin: 0px; font-size: 9px;">};</div>
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<div style="margin: 0px; font-size: 9px; color: rgb(78, 144, 114);">// EL6021 <span style="text-decoration: underline;">syncs</span></div>
<div style="margin: 0px; font-size: 9px;"><span style="color: rgb(0, 97, 65);">ec_sync_info_t</span> EL60XX_syncs[] = {</div>
<div style="margin: 0px; font-size: 9px; color: rgb(3, 38, 204);"><span style="color: rgb(0, 0, 0);"> {0, </span><i>EC_DIR_OUTPUT</i><span style="color: rgb(0, 0, 0);">, 0, NULL, </span><i>EC_WD_DISABLE</i><span style="color: rgb(0, 0, 0);">},</span></div>
<div style="margin: 0px; font-size: 9px; color: rgb(3, 38, 204);"><span style="color: rgb(0, 0, 0);"> {1, </span><i>EC_DIR_INPUT</i><span style="color: rgb(0, 0, 0);">, 0, NULL, </span><i>EC_WD_DISABLE</i><span style="color: rgb(0, 0, 0);">},</span></div>
<div style="margin: 0px; font-size: 9px;"> {2, <span style="color: rgb(3, 38, 204);"><i>EC_DIR_OUTPUT</i></span>, 1, EL60XX_pdos + 0, <span style="color: rgb(3, 38, 204);"><i>EC_WD_DISABLE</i></span>},</div>
<div style="margin: 0px; font-size: 9px;"> {3, <span style="color: rgb(3, 38, 204);"><i>EC_DIR_INPUT</i></span>, 1, EL60XX_pdos + 1, <span style="color: rgb(3, 38, 204);"><i>EC_WD_DISABLE</i></span>},</div>
<div style="margin: 0px; font-size: 9px;"> {0xff}</div>
<div style="margin: 0px; font-size: 9px;"><span style="text-decoration: underline;">};</span></div>
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<div>I am using these as my defaults since I want to use the full 22 bytes (I know you can configure between 3, 5, and 22 bytes, in which I would like to stick with 22). </div>
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<div>When I fill the data bytes and set the ctrl bit to transmit data, I get a transmit success status on the status byte in the next process data exchange but no data goes out the port. I have the other side of the RS232 interface hooked up to procomm to verify
there is no data coming out of the port. Plus the activity light does not blink.</div>
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<div>Has anyone else had any issues with this? </div>
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<div>Thank you!</div>
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