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</o:shapelayout></xml><![endif]--></head><body lang=EN-NZ link=blue vlink=purple><div class=WordSection1><p class=MsoNormal style='word-break:normal'><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US'>Basic slaves have a fixed layout of PDOs. Complex slaves sometimes allow you to select alternate layouts or in rare cases even build your own layout. Complex slaves require CoE to do that configuration.<o:p></o:p></span></p><p class=MsoNormal style='word-break:normal'><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US'><o:p> </o:p></span></p><p class=MsoNormal style='word-break:normal'><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US'>The error you are getting indicates that the configuration doesn’t match, so Etherlab tries to update it, but it can’t because the slave doesn’t support CoE.<o:p></o:p></span></p><p class=MsoNormal style='word-break:normal'><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US'><o:p> </o:p></span></p><p class=MsoNormal style='word-break:normal'><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US'>For a basic slave that doesn’t have CoE, you need to make sure that the PDO layout in your application matches exactly what the slave publishes. What matters to Etherlab is not the contents of the SII XML file, but the contents of the SII EEPROM.<o:p></o:p></span></p><p class=MsoNormal style='word-break:normal'><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US'><o:p> </o:p></span></p><p class=MsoNormal style='word-break:normal'><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US'>Assuming that this has been correctly programmed by the supplier of your slave device (or whoever else is authoring the XML file), you should be able to run the “ethercat cstruct” command to generate the code required to configure your application to correctly use your slave’s PDOs.<o:p></o:p></span></p><p class=MsoNormal style='word-break:normal'><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US'><o:p> </o:p></span></p><div style='border:none;border-left:solid blue 1.5pt;padding:0cm 0cm 0cm 4.0pt'><div><div style='border:none;border-top:solid #E1E1E1 1.0pt;padding:3.0pt 0cm 0cm 0cm'><p class=MsoNormal align=left style='text-align:left;text-autospace:ideograph-numeric ideograph-other;word-break:normal'><b><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif'>From:</span></b><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif'> tykwon<br><b>Sent:</b> Friday, 2 June 2017 18:07<br><b>To:</b> etherlab-users@etherlab.org<br><b>Subject:</b> [etherlab-users] "Slave does not support CoE!" An error occurs.<o:p></o:p></span></p></div></div><p class=MsoNormal align=left style='text-align:left'><o:p> </o:p></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>Hi. all<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>I am using ODROID-C1.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>The EtherCAT Slave uses the EVB-LAN9252-ADD-ON(Microchip LAN9252) board.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>I am testing the EtherCAT Master with a program using the user library.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>I am testing <a href="http://lists.etherlab.org/pipermail/etherlab-users/attachments/20120413/b83b76d4/attachment.c">http://lists.etherlab.org/pipermail/etherlab-users/attachments/20120413/b83b76d4/attachment.c</a> to test it.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>The source of my created ec_user_example is the attachment ec_user_kty.c.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>The ESI currently used by the EtherCAT Slave is an attachment kty.xml.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>When I run ec_user_example compiled, I get the following error. <o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>/**************************************************************/<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'> EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'> EtherCAT DEBUG: 00<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'> EtherCAT ERROR 0-0: Slave does not support CoE!<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'> EtherCAT ERROR 0-0: SDO configuration failed.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>/**************************************************************/<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>How do I fix this error?<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>Actually, my ESI file has nothing to do with CoE.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>Is the use of CoE essential?<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>Since I am EtherCAT Newbi I do not know what is wrong.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>I am not sure if my program is wrong or ESI is wrong.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>Could you please help me solve this problem?<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>The attachment slaves.txt is the result of the "ethercat slaves" command.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>Attachment ec_user_example_output.txt is the result of running my ec_user_example.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>Attached file demsg.txt is my kernel message.(ethercat debug 1)<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'>Best regards,<br>Kwon<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='mso-fareast-language:KO'><o:p> </o:p></span></p></div></div></body></html>