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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Hi,<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">What type of computer are you using as the Linux master? If it is a Beckhoff CXxxxx computer via the EBus module it will need the CCAT (or similar) network
card driver. However, it sounds like your Linux master is not a CXxxxx computer and you already have the EtherCAT networking running.
<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">I have not used the CX8010 so can’t offer too much advice but from what I understand it ring fences all of the IO on its EBus with its own logic to control
it. You then have to choose what IO (or interface) you want to expose via its slave interface that the Linux EtherCAT master will access.
<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">What does the ethercat cstruct command return?<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"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Regards,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Graeme.<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""> David Jiménez Mejías [mailto:david.jimenez@gtc.iac.es]
<br>
<b>Sent:</b> Friday, 13 May 2016 11:12 p.m.<br>
<b>To:</b> Graeme Foot; etherlab-users@etherlab.org<br>
<b>Subject:</b> RE: [etherlab-users] CX CPU as Master Linux Slave<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"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">Hi Graeme,<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"> <o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">thanks for your answer.<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">I'm trying to use a CX8010 as TwinCAT Master of its own net. Over it is a Linux PC running the Master Linux 1.5.2. We would like to have the CX8010 as slave from
the Master Linux sharing In/Outs PDOs.<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"> <o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">By the moment I keep running the CX8010 as normal, with the slave pdo configuration just done.<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"> <o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">From the Master Linux I see the slave at PREOP (with Error), with this dmesg outputs:<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"> <o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">[2061710.482018] EtherCAT 0: 0 slave(s) responding on main device.<br>
[2061710.482020] EtherCAT 0: Stopping EoE thread.<br>
[2061710.482038] EtherCAT 0: EoE thread exited.<br>
[2061710.499211] EtherCAT 0: 1 slave(s) responding on main device.<br>
[2061710.499214] EtherCAT 0: Slave states on main device: PREOP.<br>
[2061710.499718] EtherCAT 0: Scanning bus.<br>
[2061710.640237] EtherCAT 0: Bus scanning completed in 141 ms.<br>
[2061710.640240] EtherCAT 0: Using slave 0 as DC reference clock.<br>
[2061710.640242] EtherCAT 0: Starting EoE thread.<br>
[2061710.655820] IPv6: ADDRCONF(NETDEV_UP): eoe0s0: link is not ready<br>
[2061710.666862] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).<br>
[2061710.667536] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".<br>
[2061710.670956] EtherCAT 0-0: Acknowledged state PREOP.<br>
[2061713.541497] EtherCAT WARNING 0: 1 datagram TIMED OUT!<br>
[2061713.664881] EtherCAT WARNING 0-0: CoE Emergency Request received:<br>
Error code 0xA000, Error register 0x02, data:<br>
[2061713.664885] EtherCAT DEBUG: 0E 04 00 04 00<br>
[2061713.848637] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0xF100:01!<br>
[2061713.848641] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".<br>
[2061713.852689] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0xF100:02!<br>
[2061713.852693] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".<br>
[2061713.856649] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0xF100:03!<br>
[2061713.856653] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".<br>
[2061713.860720] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0xF100:04!<br>
[2061713.860724] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".<br>
[2061713.864652] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0xF100:05!<br>
[2061713.864655] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".<br>
[2061713.868724] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0xF100:06!<br>
[2061713.868728] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".<br>
[2061713.872634] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0xF100:07!<br>
[2061713.872645] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".<br>
[2061713.876712] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0xF100:08!<br>
[2061713.876716] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".<br>
[2061713.880657] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0xF100:09!<br>
[2061713.880660] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".<br>
[2061713.884698] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0xF100:0A!<br>
[2061713.884701] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".<br>
[2061713.888636] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0xF100:0B!<br>
[2061713.888640] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".<br>
[2061713.892574] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0xF100:0C!<br>
[2061713.892577] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".<br>
[2061713.896793] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0xF100:0D!<br>
[2061713.896797] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".<br>
[2061713.900671] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0xF100:0E!<br>
[2061713.900674] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".<br>
[2061716.623870] EtherCAT WARNING 0: 1 datagram TIMED OUT!<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"> <o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"> <o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">Some months a go I get to configure correctly typical cards with the EK1100 bus coupler. But the way to proceed looks diferent.<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"> <o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">About the CCAT driver ... i just compile all without this enable, it isn't on the pdf manual. Then could be help us recompiling with that flag on?<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"> <o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">Thank you very much<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"> <o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">King regards<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"> <o:p></o:p></span></p>
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<p class="MsoNormal"><strong><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">David Jiménez Mejías</span></strong><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><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"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"> <o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">
<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">-----Original Message-----<br>
From: Graeme Foot <<a href="mailto:Graeme.Foot@touchcut.com">Graeme.Foot@touchcut.com</a>><br>
To: David Jiménez Mejías <<a href="mailto:david.jimenez@gtc.iac.es">david.jimenez@gtc.iac.es</a>>, "<a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a>" <<a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a>><br>
Date: Tue, 10 May 2016 22:28:49 +0000<br>
Subject: RE: [etherlab-users] CX CPU as Master Linux Slave<br>
<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Hi,</span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> </span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">We use a Beckhoff CX2020 with a CX2100-0004 power module with EBus. What do you mean by slave CPU? Are you referring to the CX2100 module?</span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> </span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">What version of the master are you using? There is a CCAT driver written by Patrick Bruenn in the “stable-1.5” branch, but it is not in the “default” branch.
Are you using this? If not, to use it you will need to build it with the master with the ENABLE_CCAT config flag (I think).</span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> </span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">I don’t use this driver as I wrote my own before it was available but I assume you use it in the same fashion as any of the other network card drivers, where
you load the network driver modules you want to load (eg with modprobe). If you load the CCAT module first then the master should use it by preference (when you use the generic MAC address of FF:FF:FF:FF:FF:FF) rather than needing to specify a fixed MAC address.</span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> </span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> </span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">If you are not using the CCAT driver above, are you writing your own?</span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> </span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> </span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">I have attached a patch for the driver I use. It is written for EtherCat master revision 2526 (stable-1.5) and Linux Kernel 2.6.32. It may be useful as a
reference.</span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> </span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Regards,</span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Graeme.</span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> </span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> </span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> </span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><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";color:black">From:</span></b><span lang="EN-US" style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"> etherlab-users [<a href="mailto:etherlab-users-bounces@etherlab.org">mailto:etherlab-users-bounces@etherlab.org</a>]
<b>On Behalf Of </b>David Jiménez Mejías<br>
<b>Sent:</b> Wednesday, 11 May 2016 1:24 a.m.<br>
<b>To:</b> <a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> [etherlab-users] CX CPU as Master Linux Slave</span><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"> <o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">Hi everyone!<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"> <o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">I would like to share some data from a Beckhoff CPU, CX line, by the slave EtherCAT Port. Using a EtherLab Master Linux.<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">Is there someone with some experience on that issue?<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">I configure the TxPDO and RxPDO in the Slave CPU, and the only way that I get the Linux Master reads its PDOs is with the slave CPU on config mode. I'm studing
this procedure from zero, then, if there is someone with some informatuion about it I will so grateful.<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"> <o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">Thanks in advance<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"> <o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -<o:p></o:p></span></p>
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<p class="MsoNormal"><strong><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black">David Jiménez Mejías</span></strong><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"> <o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:black"><br>
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