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<div class="moz-cite-prefix">Hi,<br>
<br>
Sometimes a piece of code is better than explanations ...<br>
Here is mine, which configures the PDO of the CanOpen side on my
EL6731<br>
<br>
static int err_code;<br>
static int cnt;<br>
static int x, y, z, i, num_config_lines;<br>
static char app_str[1024];<br>
static unsigned char pb_config_buf[2048];<br>
static int ecrt_retval;<br>
uint32_t value_to_write;<br>
uint32_t abort_code;<br>
<br>
struct config_item {<br>
unsigned int slave_pos;<br>
unsigned short address;<br>
char * config_string;<br>
};<br>
<br>
// 6 Atos Hydraulic valves without rxpdo2<br>
const config_item config [] = {<br>
<br>
// EL67xx CoE Init Cmd 2 (F800:00)<br>
{19, 0xF800, "11 00 7F 06 80 00 10 27 00 00 00 00 00 00 00
1E 64 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00"},<br>
// EL67xx CoE Init Cmd 3 (8000:00)<br>
{19, 0x8000, "2E 00 01 00 98 01 00 07 F4 00 00 00 02 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64
00 03 00 D0 07 D0 07 05 00 0A 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00"},<br>
// EL67xx CoE Init Cmd 4 (8006:00)<br>
{19, 0x8006, "03 00 81 01 00 00 FF 02 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00"},<br>
// EL67xx CoE Init Cmd 5 (8008:00)<br>
{19, 0x8008, "04 00 01 02 00 00 FF 02 00 00 00 00 00 00 01
03 00 00 FF 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00"},<br>
// EL67xx CoE Init Cmd 6 (8003:00)<br>
{19, 0x8003, "0E 00 00 18 01 04 00 81 01 00 00 00 18 02 01
00 FF 01 18 01 04 00 81 03 00 00 01 18 02 01 00 FF 02 18 01 04 00
81 04 00 00 02 18 02 01 00 FF 00 14 01 04 00 01 02 00 00 00 14 02
01 00 FF 01 14 01 04 00 01 03 00 00 01 14 02 01 00 FF 02 14 01 04
00 01 04 00 00 02 14 02 01 00 FF 03 14 01 04 00 01 05 00 00 03 14
02 01 00 FF"},<br>
// EL67xx CoE Init Cmd 7 (8010:00)<br>
{19, 0x8010, "2E 00 02 00 98 01 00 07 F4 00 00 00 02 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64
00 03 00 D0 07 D0 07 05 00 0A 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00"},<br>
// EL67xx CoE Init Cmd 8 (8016:00)<br>
{19, 0x8016, "03 00 82 01 00 00 FF 02 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00"},<br>
// EL67xx CoE Init Cmd 9 (8018:00)<br>
{19, 0x8018, "04 00 02 02 00 00 FF 02 00 00 00 00 00 00 02
03 00 00 FF 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00"},<br>
// EL67xx CoE Init Cmd 10 (8013:00)<br>
{19, 0x8013, "0E 00 00 18 01 04 00 82 01 00 00 00 18 02 01
00 FF 01 18 01 04 00 82 03 00 00 01 18 02 01 00 FF 02 18 01 04 00
82 04 00 00 02 18 02 01 00 FF 00 14 01 04 00 02 02 00 00 00 14 02
01 00 FF 01 14 01 04 00 02 03 00 00 01 14 02 01 00 FF 02 14 01 04
00 02 04 00 00 02 14 02 01 00 FF 03 14 01 04 00 02 05 00 00 03 14
02 01 00 FF"},<br>
// EL67xx CoE Init Cmd 11 (8020:00)<br>
{19, 0x8020, "2E 00 03 00 98 01 00 07 F4 00 00 00 02 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64
00 03 00 D0 07 D0 07 05 00 0A 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00"},<br>
// EL67xx CoE Init Cmd 12 (8026:00)<br>
{19, 0x8026, "03 00 83 01 00 00 FF 02 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00"},<br>
// EL67xx CoE Init Cmd 13 (8028:00)<br>
{19, 0x8028, "04 00 03 02 00 00 FF 02 00 00 00 00 00 00 03
03 00 00 FF 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00"},<br>
// EL67xx CoE Init Cmd 14 (8023:00)<br>
{19, 0x8023, "0E 00 00 18 01 04 00 83 01 00 00 00 18 02 01
00 FF 01 18 01 04 00 83 03 00 00 01 18 02 01 00 FF 02 18 01 04 00
83 04 00 00 02 18 02 01 00 FF 00 14 01 04 00 03 02 00 00 00 14 02
01 00 FF 01 14 01 04 00 03 03 00 00 01 14 02 01 00 FF 02 14 01 04
00 03 04 00 00 02 14 02 01 00 FF 03 14 01 04 00 03 05 00 00 03 14
02 01 00 FF"},<br>
// EL67xx CoE Init Cmd 15 (8030:00)<br>
{19, 0x8030, "2E 00 04 00 98 01 00 07 F4 00 00 00 02 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64
00 03 00 D0 07 D0 07 05 00 0A 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00"},<br>
// EL67xx CoE Init Cmd 16 (8036:00)<br>
{19, 0x8036, "03 00 84 01 00 00 FF 02 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00"},<br>
// EL67xx CoE Init Cmd 17 (8038:00)<br>
{19, 0x8038, "04 00 04 02 00 00 FF 02 00 00 00 00 00 00 04
03 00 00 FF 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00"},<br>
// EL67xx CoE Init Cmd 18 (8033:00)<br>
{19, 0x8033, "0E 00 00 18 01 04 00 84 01 00 00 00 18 02 01
00 FF 01 18 01 04 00 84 03 00 00 01 18 02 01 00 FF 02 18 01 04 00
84 04 00 00 02 18 02 01 00 FF 00 14 01 04 00 04 02 00 00 00 14 02
01 00 FF 01 14 01 04 00 04 03 00 00 01 14 02 01 00 FF 02 14 01 04
00 04 04 00 00 02 14 02 01 00 FF 03 14 01 04 00 04 05 00 00 03 14
02 01 00 FF"},<br>
// EL67xx CoE Init Cmd 19 (8040:00)<br>
{19, 0x8040, "2E 00 05 00 98 01 00 07 F4 00 00 00 02 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64
00 03 00 D0 07 D0 07 05 00 0A 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00"},<br>
// EL67xx CoE Init Cmd 20 (8046:00)<br>
{19, 0x8046, "03 00 85 01 00 00 FF 02 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00"},<br>
// EL67xx CoE Init Cmd 21 (8048:00)<br>
{19, 0x8048, "04 00 05 02 00 00 FF 02 00 00 00 00 00 00 05
03 00 00 FF 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00"},<br>
// EL67xx CoE Init Cmd 22 (8043:00)<br>
{19, 0x8043, "0E 00 00 18 01 04 00 85 01 00 00 00 18 02 01
00 FF 01 18 01 04 00 85 03 00 00 01 18 02 01 00 FF 02 18 01 04 00
85 04 00 00 02 18 02 01 00 FF 00 14 01 04 00 05 02 00 00 00 14 02
01 00 FF 01 14 01 04 00 05 03 00 00 01 14 02 01 00 FF 02 14 01 04
00 05 04 00 00 02 14 02 01 00 FF 03 14 01 04 00 05 05 00 00 03 14
02 01 00 FF"},<br>
// EL67xx CoE Init Cmd 23 (8050:00)<br>
{19, 0x8050, "2E 00 06 00 98 01 00 07 F4 00 00 00 02 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64
00 03 00 D0 07 D0 07 05 00 0A 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00"},<br>
// EL67xx CoE Init Cmd 24 (8056:00)<br>
{19, 0x8056, "03 00 86 01 00 00 FF 02 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00"},<br>
// EL67xx CoE Init Cmd 25 (8058:00)<br>
{19, 0x8058, "04 00 06 02 00 00 FF 02 00 00 00 00 00 00 06
03 00 00 FF 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00"},<br>
// EL67xx CoE Init Cmd 26 (8053:00)<br>
{19, 0x8053, "0E 00 00 18 01 04 00 86 01 00 00 00 18 02 01
00 FF 01 18 01 04 00 86 03 00 00 01 18 02 01 00 FF 02 18 01 04 00
86 04 00 00 02 18 02 01 00 FF 00 14 01 04 00 06 02 00 00 00 14 02
01 00 FF 01 14 01 04 00 06 03 00 00 01 14 02 01 00 FF 02 14 01 04
00 06 04 00 00 02 14 02 01 00 FF 03 14 01 04 00 06 05 00 00 03 14
02 01 00 FF"},<br>
// download pdo 0x1C12 index<br>
{19, 0x1C12, "06 00 00 16 01 16 02 16 03 16 04 16 05 16"},<br>
// download pdo 0x1C13 index<br>
{19, 0x1C13, "0A 00 00 1A 01 1A 02 1A 03 1A 04 1A 05 1A 81
1A 82 1A 83 1A 84 1A"}<br>
};<br>
<br>
num_config_lines = sizeof(config)/sizeof(config_item);<br>
<br>
for (x=0 ; x<num_config_lines ; x++ ) {<br>
cout << "Downloading obj " << config[x].address
<< " " << config[x].config_string << " \n";<br>
y=0;<br>
for (z=0 ; z<strlen(config[x].config_string) ; z++) if
(config[x].config_string[z] != ' ')
app_str[y++]=config[x].config_string[z];<br>
<br>
app_str[y]='\0';<br>
cnt = strToCharArray(app_str, pb_config_buf);<br>
if ((err_code =
ecrt_slave_config_complete_sdo(slave_config_list[config[x].slave_pos],
config[x].address, pb_config_buf, cnt)) != 0) {<br>
// if ((err_code =
ecrt_slave_config_complete_sdo(config[x].slave_pos,
config[x].address, pb_config_buf, cnt)) != 0) {<br>
cout << "Object configuration failed " <<
config[x].address << " Errocode = " << err_code
<< "\n";<br>
cout << "Data is: " << pb_config_buf <<
"\n";<br>
cout << "Data size is: " << cnt <<
"\n";<br>
exit(-1);<br>
} else {<br>
cout << "Downloading obj " <<
config[x].address << " " << app_str << "
OK\n";<br>
}<br>
}<br>
<br>
<br>
On 19/01/2016 16:05, Matze Thias wrote:<br>
</div>
<blockquote
cite="mid:CACj3iFTNtq2j71d5eMJGxUwfJ-XzUBtp8SW0abaPUys7ZTyBKQ@mail.gmail.com"
type="cite">
<div dir="ltr">
<div>
<div>Hello,<br>
<br>
</div>
I am trying to configure the EL6751 at the moment, so that I
am able to send raw CAN messages over ethercat(<a
moz-do-not-send="true"
href="http://infosys.beckhoff.com/content/1033/el6751/html/el6751_layer2_statemachine.htm?id=10857">http://infosys.beckhoff.com/content/1033/el6751/html/el6751_layer2_statemachine.htm?id=10857</a>).<br>
I took the configuration, which is done in terms of
sdo-startup-downloads, from one of the twincat dialogs. Which
method for sdo configuration is the right to choose?<br>
<br>
</div>
<div>If I use ecrt_master_sdo_download_complete for the
different SDO-Objects to upload, nothing happens. When using
ecrt_slave_config_complete_sdo the device error-led starts
blinking(indicating, that some configuration is in progress)
but at the same time I get this:<br>
<br>
Jan 19 15:50:06 e-node8 kernel: [611927.053364] EtherCAT ERROR
0-1: Failed to set SAFEOP state, slave refused state change
(PREOP + ERROR).<br>
Jan 19 15:50:06 e-node8 kernel: [611927.059801] EtherCAT ERROR
0-1: Unknown AL status code 0xF101.<br>
<br>
</div>
<div>Can anyone explain the error and has a solution for this?
Maybe someone has experience in getting the el6751 configured
and work-ready for this scenario and can share his insights :)
?<br>
<br>
</div>
<div>Greetings,<br>
<br>
</div>
<div>Matze Thias<br>
</div>
<div><br>
</div>
</div>
<br>
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<br>
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