<html><body>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">Hi again Richard,</div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);"> </div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">I was working on this topic this week, following the indication from the link I get to a new scenario, I tell you:</div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);"> </div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">I've imported from TwinCAT XML the data of the diferents SDO entries. (XML appended on this email).</div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">I get to write the config SDO entries [0x1212, 0x1C13, 0xF800, 0x8000], I could check the correct configuration with etchercat tool (./ethercat upload ...):</div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);"> # sudo ./ethercat upload -p4 -t uint16 0x8000 1<br />
> 0x0007 7 // This is the correct Can Slave Node ID (0x0000 by default)</div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);"> # sudo ./ethercat upload -p4 -t uint8 0xF800 2</div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);"> > 0x03 3 // This is the correct Baudratre configuration (0x02 by default)</div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);"> </div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">But the EL6751 can't pass to OP, it keeps on PREOP+ERROR (Code appended on this email).</div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);"> </div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">This is the dmesg output:</div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);"> </div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">[ 4055.253520] EtherCAT 0: Releasing master...<br />
[ 4055.253529] EtherCAT 0: Master thread exited.<br />
[ 4055.253539] EtherCAT 0: Starting EtherCAT-IDLE thread.<br />
[ 4055.253561] EtherCAT 0: Released.<br />
[ 4057.131180] EtherCAT: Requesting master 0...<br />
[ 4057.131184] EtherCAT: Successfully requested master 0.<br />
[ 4057.131375] EtherCAT 0: Domain0: Logical address 0x00000000, 22 byte, expected working counter 8.<br />
[ 4057.131377] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 22 byte, type LRW.<br />
[ 4057.131389] EtherCAT 0: Master thread exited.<br />
[ 4057.131391] EtherCAT 0: Starting EtherCAT-OP thread.<br />
[ 4057.131453] EtherCAT WARNING 0: 1 datagram UNMATCHED!<br />
[ 4057.133102] EtherCAT WARNING 0: No app_time received up to now, but master already active.<br />
[ 4060.034303] EtherCAT 0: Domain 0: Working counter changed to 2/8.<br />
[ 4061.835479] EtherCAT 0: Domain 0: Working counter changed to 3/8.<br />
[ 4063.336336] EtherCAT 0: Domain 0: Working counter changed to 5/8.<br />
[ 4065.637736] EtherCAT ERROR 0-4: SDO upload 0x1A00:00 aborted.<br />
[ 4065.637740] EtherCAT ERROR 0-4: SDO abort message 0x06020000: "This object does not exist in the object directory".<br />
[ 4065.637742] EtherCAT ERROR 0-4: Failed to read number of mapped PDO entries.<br />
[ 4065.637743] EtherCAT WARNING 0-4: Failed to read PDO entries for PDO 0x1A00.<br />
[ 4065.637745] EtherCAT WARNING 0-4: Slave does not support changing the PDO mapping!<br />
[ 4065.637746] EtherCAT WARNING 0-4: Currently mapped PDO entries: (none). Entries to map: 0x6000:01/8<br />
[ 4065.637750] EtherCAT WARNING 0-4: Slave does not support assigning PDOs!<br />
[ 4065.637750] EtherCAT WARNING 0-4: Currently assigned PDOs: (none). PDOs to assign: 0x1A00<br />
[ 4066.037976] EtherCAT ERROR 0-4: SDO upload 0x1600:00 aborted.<br />
[ 4066.037981] EtherCAT ERROR 0-4: SDO abort message 0x06020000: "This object does not exist in the object directory".<br />
[ 4066.037982] EtherCAT ERROR 0-4: Failed to read number of mapped PDO entries.<br />
[ 4066.037984] EtherCAT WARNING 0-4: Failed to read PDO entries for PDO 0x1600.<br />
[ 4066.037985] EtherCAT WARNING 0-4: Slave does not support changing the PDO mapping!<br />
[ 4066.037986] EtherCAT WARNING 0-4: Currently mapped PDO entries: (none). Entries to map: 0x7000:01/32<br />
[ 4071.841620] EtherCAT WARNING 0-4: Slave does not support changing the PDO mapping!<br />
[ 4071.841627] EtherCAT WARNING 0-4: Currently mapped PDO entries: 0xF102:01/8 0xF101:03/8 0xF108:01/1 0xF108:02/1 0xF108:03/1 0x0000:00/1 0xF108:05/1 0xF108:06/1 0x0000:00/2 0x0000:00/8 0xF108:21/8 0xF108:22/8 0xF101:14/1 0xF103:01/1 0x0000:00/6. Entries to map: 0xA000:01/8 0xF100:01/8 0xF100:03/16 0xF100:05/8 0xF100:04/8 0xF100:02/1 0xA000:02/1<br />
[ 4071.841656] EtherCAT WARNING 0-4: Slave does not support assigning PDOs!<br />
[ 4071.841658] EtherCAT WARNING 0-4: Currently assigned PDOs: (none). PDOs to assign: 0x1600 0x1A80<br />
[ 4072.241802] EtherCAT 0: Domain 0: Working counter changed to 7/8.<br />
[ 4072.341869] EtherCAT ERROR 0-4: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).<br />
[ 4072.541984] EtherCAT ERROR 0-4: AL status message 0x001E: "Invalid input configuration".<br />
[ 4072.742107] EtherCAT 0-4: Acknowledged state PREOP.<br />
[ 4073.142357] EtherCAT WARNING 0-4: CoE Emergency Request received:<br />
[ 4073.142360] EtherCAT DEBUG: 0E 07 10 07 10</div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);"> </div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);"> </div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">Could you tell me some tip that make me know how to get the EL6751 Operational with its Can-Slave working?</div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);"> </div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">Thank you in advance</div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);"> </div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">Best regards</div>
<div style="font-size: 13.3333px; font-family: Tahoma; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);"> </div>
<div style="font-family: tahoma; color: rgb(0, 0, 0); font-size: 13.3333px; font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">- - - - - - - - - - - - <span style="font-size: 13.3333330154419px;">- - - - - - - - - - - - </span><span style="font-size: 13.3333330154419px;">- - - - - - - - - - - - </span><span style="font-size: 13.3333330154419px;">- - -</span></div>
<div style="font-family: tahoma; color: rgb(0, 0, 0); font-size: 13.3333px; font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);"><strong>David Jiménez Mejías -</strong> <span style="font-size: 13.3333330154419px;">Gran Telescopio de Canarias S.A</span></div>
<div style="font-family: tahoma; color: rgb(0, 0, 0); font-size: 13.3333px; font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);"> </div>
<div style="font-family: tahoma; color: rgb(0, 0, 0); font-size: 13.3333px; font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);"><em>Ingeniero de Operación / Operation Engineer</em></div>
<div style="font-family: tahoma; color: rgb(0, 0, 0); font-size: 13.3333px; font-weight: 400; font-style: normal; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);"> </div>
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<div style="font-size: 13.3333330154419px;"> </div>
</div>
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<blockquote style="PADDING-RIGHT: 0px; PADDING-LEFT: 5px; MARGIN-LEFT: 5px; BORDER-LEFT: #000000 2px solid; MARGIN-RIGHT: 0px">-----Original Message-----<br />
From: Richard Hacker <ha@igh.de><br />
To: "etherlab-users@etherlab.org" <etherlab-users@etherlab.org><br />
Cc: David Jiménez Mejías <david.jimenez@gtc.iac.es><br />
Date: Wed, 28 Oct 2015 11:37:26 +0100<br />
Subject: Re: [etherlab-users] Initializing CanOpen Master Module EL6751-0010<br />
<div style="font-family: monospace, courier new, courier">Hi David,<br />
<br />
Communication slaves are very(!) difficult to handle, because they are<br />
configured by means of SDO's. We are not aware of a free tool that can<br />
be used to cofigure them.<br />
<br />
They must be configured using TwinCAT(2). A trial version is available<br />
free of charge from Beckhoff. This can be used to configure the slave.<br />
Have a look at:<br />
<a href="http://lists.etherlab.org/pipermail/etherlab-users/2012/001860.html" target="_blank">http://lists.etherlab.org/pipermail/etherlab-users/2012/001860.html</a><br />
<br />
Search the mailing list for EL6731 or EL6751.<br />
<br />
- Richard<br />
<br />
<br />
BTW: I cannot find EL6710! CANopen master is EL6751. And besides, -0010<br />
is usually the slave and not the master! Check carefully what you have.<br />
In case of a slave, select it in the TwinCAT Project, instead of the<br />
master, before "Export configuration XML".<br />
<br />
------------------------------------------------------------------------<br />
<br />
On 28.10.2015 11:13, David Jiménez Mejías wrote:<br />
> Hello,<br />
> I just trying to configure a CanOpen Network with a CanOpen Master<br />
> Module EL6710-0010 (Beckhoff), and get some doubts and issues.<br />
> I proceed just the module infosys website indicates, I did the next steps:<br />
> - Configure the BaudRate SDO:<br />
> # ./ethercat download -p4 -t uint8 0xF800 2 3 (250KBauds)<br />
> - Request a Detect Module Command<br />
> # ./ethercat download -p4 -t uint16 0xF002 1 0x11<br />
> -> At this step I need to write "something" to a octet_string[2]<br />
> entry, with this format the requested commando doesn work, I do it using<br />
> a uint16. Does someone know which octet is the expected?<br />
> - After the request command I observe the percent counter process:<br />
> # ./ethercat upload -p4 -t uint8 0xF002 2<br />
> 0x80 128<br />
> # ./ethercat upload -p4 -t uint8 0xF002 2<br />
> 0x95 149<br />
> - Until it keeps on value 0x01:<br />
> # ./ethercat upload -p4 -t uint8 0xF002 2<br />
> 0x01 1<br />
> - It means, reading at infosys, that: "Command ended without error,<br />
> response data in SubIndex 3", then I tried read the octet_string[n]<br />
> directly from the terminal, but it can't be possible, then I do:<br />
> # ./ethercat upload -p4 -t octet_string 0xF002 3 > ~/prescan.out<br />
> - This output file is:<br />
> 00000000 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00<br />
> ................<br />
> 00000010 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00<br />
> ................<br />
> 00000020 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00<br />
> ................<br />
> 00000030 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00<br />
> ................<br />
> 00000040 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00<br />
> ................<br />
> 00000050 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00<br />
> ................<br />
> -> The first octet_couple correspond with the infosys website<br />
> detail, al the next is 0.<br />
> - I tried to repeat the request command but I get the next error:<br />
> # ./ethercat download -p4 -t octet_string 0xF002 1 0x22<br />
> SDO transfer aborted with code 0x08000021: Data cannot be transferred or<br />
> stored to the application because of local control<br />
> This is the point where i'm get stacked.<br />
> Is there some one that have some experience with this type of modules?<br />
> Thank you very much<br />
> Best regards<br />
> <br />
> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -<br />
> - - -<br />
> *David Jiménez Mejías -* Gran Telescopio de Canarias S.A<br />
> /Ingeniero de Operación / Operation Engineer/<br />
><br />
> ----------<br />
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> concerning the Protection of Data, consult<br />
> <a href="http://www.gtc.iac.es/gtc/legal_es.php" target="_blank">http://www.gtc.iac.es/gtc/legal_es.php</a><br />
><br />
><br />
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></div>
</blockquote>
</div>
<br>----------<br>
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