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<p class="MsoNormal">Dear all,<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="EN-GB">We have our Etherlab master running without any problem with Beckhoff boards (digital I/O, analog I/O…). Now, we wanted to make some tests with an Omron system, but we fail to get it running. We seem unable to make it
go further than the INIT state. Has anyone got any experience in working with Etherlab and Omron systems? Do we have to make something different?<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">In Beckhoff, each board is an EtherCAT slave. However, in Omron all the boards connected to an EtherCAT coupler are a unique slave, but “ethercat slaves” only returns the configuration of the coupler itself. In TwinCAT,
we can use an XML file to set the correct configuration for the system. Then, we can create a binary file in TwinCAT and write it with “ethercat sii_write” to the SII (EEPROM) of the coupler. After that, “ethercat slaves” returns the correct Omron system configuration.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">For our demo, at this moment, we will use the coupler by itself:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"># ./ethercat rescan<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"># ./ethercat slaves<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">0 0:0 INIT E NX-ECC202 EtherCAT coupler V1.2<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"># ./ethercat cstruct<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">/* Master 0, Slave 0, "NX-ECC202"<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">* Vendor ID: 0x00000083<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">* Product code: 0x000000a6<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">* Revision number: 0x00010002<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">*/<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">ec_pdo_entry_info_t slave_0_pdo_entries[] = {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> {0x2003, 0x04, 128}, /* NX Unit Registration Status 125 */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> {0x2005, 0x04, 128}, /* NX Unit I/O Data Active Status 125 */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> {0x2001, 0x01, 8}, /* Sysmac Error Status */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> {0x0000, 0x00, 8},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">};<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">ec_pdo_info_t slave_0_pdos[] = {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> {0x1bf8, 2, slave_0_pdo_entries + 0}, /* 505th transmit PDO Mapping */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> {0x1bff, 1, slave_0_pdo_entries + 2}, /* 512th transmit PDO Mapping */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> {0x1bf4, 1, slave_0_pdo_entries + 3}, /* PaddingTxPdo */<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">};<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">ec_sync_info_t slave_0_syncs[] = {<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_ENABLE},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> {3, EC_DIR_INPUT, 3, slave_0_pdos + 0, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> {0xff}<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">};<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"># ./ethercat master<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">Master0<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Phase: Idle<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Active: no<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Slaves: 1<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Ethernet devices:<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Main: 00:12:34:56:78:9a (attached)<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Link: UP<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Tx frames: 1027404<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Tx bytes: 62023504<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Rx frames: 1012682<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Rx bytes: 61140360<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Tx errors: 0<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Tx frame rate [1/s]: 986 1277 2060<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Tx rate [KByte/s]: 57.8 74.8 120.8<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Rx frame rate [1/s]: 986 1277 2056<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Rx rate [KByte/s]: 57.8 74.8 120.6<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Common:<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Tx frames: 1027404<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Tx bytes: 62023504<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Rx frames: 1012682<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Rx bytes: 61140360<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Lost frames: 14722<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Tx frame rate [1/s]: 986 1277 2060<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Tx rate [KByte/s]: 57.8 74.8 120.8<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Rx frame rate [1/s]: 986 1277 2058<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Rx rate [KByte/s]: 57.8 74.8 120.7<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Loss rate [1/s]: 0 -0 4<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Frame loss [%]: 0.0 -0.0 0.2<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Distributed clocks:<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Reference clock: Slave 0<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Application time: 0<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> 2000-01-01 00:00:00.000000000<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"># ./ethercat slaves -v<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">=== Master 0, Slave 0 ===<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">Device: Main<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">State: INIT<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt">Flag: E<o:p></o:p></p>
<p class="MsoNormal" style="margin-left:35.4pt">Identity:<o:p></o:p></p>
<p class="MsoNormal" style="margin-left:35.4pt"> Vendor Id: 0x00000083<o:p></o:p></p>
<p class="MsoNormal" style="margin-left:35.4pt"> <span lang="EN-GB">Product code: 0x000000a6<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Revision number: 0x00010002<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Serial number: 0x00000000<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">DL information:<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> FMMU bit operation: no<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Distributed clocks: yes, 64 bit<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> DC system time transmission delay: 0 ns<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> 0 MII up open yes - 3370868674 0 0<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> 1 MII down closed no - - - -<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> 2 N/A down closed no - - - -<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> 3 N/A down closed no - - - -<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">Mailboxes:<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Bootstrap RX: 0x0000/0, TX: 0x0000/0<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Standard RX: 0x2800/256, TX: 0x2a00/256<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Supported protocols: CoE<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">General:<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Group: CommCoupler<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Image name:<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Order number: NX-ECC202<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Device name: NX-ECC202 EtherCAT coupler V1.2<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> CoE details:<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Enable SDO: yes<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Enable SDO Info: no<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Enable PDO Assign: no<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Enable PDO Configuration: no<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Enable Upload at startup: no<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Enable SDO complete access: yes<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Flags:<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Enable SafeOp: no<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Enable notLRW: no<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"> Current consumption: 0 mA<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">We can see the slave is in state INIT. With the debug set to 1:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB"># dmesg -c<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0: Sending broadcast-write to measure transmission delays on main link.<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0: 1 slaves responded to delay measuring on main link.<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT 0: Scanning bus.<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0: Scanning slave 0 on main link.<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0-0: Slave has the System Time register.<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0-0: Unknown category type 0x002A.<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0-0: Unknown category type 0x003C.<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0-0: Slave is not in the state to do mailbox com (INIT), setting to PREOP.<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0-0: Configuring...<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0-0: Now in INIT.<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0-0: Clearing FMMU configurations...<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0-0: Clearing sync manager configurations...<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0-0: Clearing DC assignment...<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0-0: Configuring mailbox sync managers...<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0-0: SM0: Addr 0x2800, Size 256, Ctrl 0x26, En 1<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0-0: SM1: Addr 0x2A00, Size 256, Ctrl 0x22, En 1<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT ERROR 0-0: Timeout while setting state PREOP.<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT 0: Bus scanning completed in 5142 ms.<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT 0: Using slave 0 as DC reference clock.<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0-0: ec_slave_calc_transmission_delays_rec(delay = 0 ns)<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0: No app_time received up to now.<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-GB">EtherCAT DEBUG 0-0: Ready for requests.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">Does anyone why the timeout is occurring? What can we do?<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">Thanks in advance,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:9.5pt;font-family:"Helvetica",sans-serif;color:#343433;mso-fareast-language:ES"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:9.5pt;font-family:"Helvetica",sans-serif;color:#343433;mso-fareast-language:ES"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:9.5pt;font-family:"Helvetica",sans-serif;color:#343433;mso-fareast-language:ES">Asier
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