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<div class="WordSection1">
<p style="mso-margin-top-alt:18.0pt;margin-right:0cm;margin-bottom:18.0pt;margin-left:0cm;line-height:16.2pt">
<span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">Hi folks,<o:p></o:p></span></p>
<p style="mso-margin-top-alt:18.0pt;margin-right:0cm;margin-bottom:18.0pt;margin-left:0cm;line-height:16.2pt">
<span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">I tried to use the Texas Instruments ICEv2 Board with the IgH-Master and I had some trouble with SDO read/write in PREOP. These steps I had proceed with the latest
TI prebuild app for the ICEv2 Board:<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:18.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level1 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">1.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">Start the ICE with the prebuild EtherCAT Demo application V3.3.0<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:54.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level2 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">a.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">it is connected to IGH 1.5.2<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:54.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level2 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">b.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">there is only one slave device<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:18.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level1 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">2.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">reading sdos. the ICE is in PREOP<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:54.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level2 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">a.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">ethercat sdos give the folloing output through the online dictionary<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:90.0pt;text-indent:-90.0pt;mso-text-indent-alt:-9.0pt;line-height:17.4pt;mso-list:l0 level3 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore"><span style="font:7.0pt "Times New Roman"">
</span>i.<span style="font:7.0pt "Times New Roman""> </span></span></span><![endif]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">SDO 0x1008, "Device name" 0x1008:00, r-r-r-, string, 80 bit, "Device name"<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:90.0pt;text-indent:-90.0pt;mso-text-indent-alt:-9.0pt;line-height:17.4pt;mso-list:l0 level3 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore"><span style="font:7.0pt "Times New Roman"">
</span>ii.<span style="font:7.0pt "Times New Roman""> </span></span></span><![endif]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">SDO 0x6000, "Input Data" 0x6000:00, r-r-r-, octet_string, 32 bit, "Input Data"<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:90.0pt;text-indent:-90.0pt;mso-text-indent-alt:-9.0pt;line-height:17.4pt;mso-list:l0 level3 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore"><span style="font:7.0pt "Times New Roman"">
</span>iii.<span style="font:7.0pt "Times New Roman""> </span></span></span><![endif]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">SDO 0x7010, "Output Data" 0x7010:00, rwrwrw, octet_string, 32 bit, "Output
Data"<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:54.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level2 lfo2">
<![if !supportLists]><span style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">b.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">read values of sdo <o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:90.0pt;text-indent:-90.0pt;mso-text-indent-alt:-9.0pt;line-height:17.4pt;mso-list:l0 level3 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore"><span style="font:7.0pt "Times New Roman"">
</span>i.<span style="font:7.0pt "Times New Roman""> </span></span></span><![endif]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">ethercat upload -p 0 0x1008 0 --> SSC-Device<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:90.0pt;text-indent:-90.0pt;mso-text-indent-alt:-9.0pt;line-height:17.4pt;mso-list:l0 level3 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore"><span style="font:7.0pt "Times New Roman"">
</span>ii.<span style="font:7.0pt "Times New Roman""> </span></span></span><![endif]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">ethercat upload -p 0 0x6000 0 --> SDO transfer aborted with code 0x06070012:
Data type does not match, length of service parameter too high<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:126.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level4 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">1.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">also with -t octet_string and -t uint32<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:90.0pt;text-indent:-90.0pt;mso-text-indent-alt:-9.0pt;line-height:17.4pt;mso-list:l0 level3 lfo2">
<![if !supportLists]><span style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore"><span style="font:7.0pt "Times New Roman"">
</span>iii.<span style="font:7.0pt "Times New Roman""> </span></span></span><![endif]><strong><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">Hence, the ICE is not abled to respond correctly to the sdo request
on 0x6000. </span></strong><strong><span style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">0x1008 with same type will work</span></strong><span style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:18.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level1 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">3.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">connect the ICE with twincat without repowering/resetting<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:54.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level2 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">a.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">TwinCAT has no ESI, it must also operate with the online dictionary like IGH<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:54.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level2 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">b.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">scan EtherCAT bus and add the ICE to the master. TwinCAT is stil in config mode<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:54.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level2 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">c.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">object 0x6000 0 is readable and has the value 0x00CCBBAA<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:54.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level2 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">d.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">object 0x7010 0 is writable. the LED are switchable<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:18.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level1 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">4.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">connect the ICE with IGH without repowering/resetting<o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:54.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level2 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">a.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><strong><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">ethercat upload -p 0 -t uint32 0x6000 0 --> 0xaabbcc00 2864434176</span></strong><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:54.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level2 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">b.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><strong><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">ethercat download -p 0 -t uint32 0x7010 0 0x0f --> switch led </span></strong><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:54.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level2 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">c.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><strong><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">ethercat download -p 0 -t uint32 0x7010 0 0xf0--> switch led</span></strong><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:54.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level2 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">d.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><strong><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">ethercat download -p 0 -t octet_string 0x7010 0 0xf0 --> switch led but not with the expected result</span></strong><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><o:p></o:p></span></p>
<p class="MsoListParagraph" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;margin-left:54.0pt;text-indent:-18.0pt;line-height:17.4pt;mso-list:l0 level2 lfo2">
<![if !supportLists]><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><span style="mso-list:Ignore">e.<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><strong><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">ethercat download -p 0 -t octet_string 0x7010 0 0x0f --> switch led but not with the expected result</span></strong><span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555"><o:p></o:p></span></p>
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<span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">Hence, there was a miracle. TwinCAT does some magic config. So after TwinCAT does something, IGH can read/write the objects 0x6000/0x7010. Writing 0x7010 will only
work correctly with type uint32. The propagated type octet_string delivers some strange data.<o:p></o:p></span></p>
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<span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">Has anybody some experience with that board on IgH-Master?<o:p></o:p></span></p>
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<span lang="EN-US" style="font-size:10.5pt;font-family:"Helvetica",sans-serif;color:#555555">kind regards,<br>
Matthias<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
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