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<p class="MsoNormal"><span lang="EN-US">Hi Guys,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">We are currently facing problems getting a Lenze inverter 8200 vector working with the IgH EtherCat master.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">The inverter is fitted with a communication module Lenze EMF2192IB for EtherCat support. Originally, the module identifies as 33S2192I-Default, containing only dummy objects.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">We could get it working with TwinCAT and the corresponding ESI file, it is then found as 'Inverter 8200 vector'.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Our next step was to generate an SII-binary from the ESI file using TwinCAT, and then write it to the SII using the IgH master, according to
<a href="http://etherlab.org/de/ethercat/faq.php">http://etherlab.org/de/ethercat/faq.php</a><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Now it is recognized as 'Inverter 8200 vector' by the master, but it still fails to get into the PREOP state. The AL status is 0x51(EEPROM error).
<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">When requesting PREOP state, we find this in the syslog:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">[ 3576.220819] EtherCAT 0: Master debug level set to 1.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">[ 3580.775050] EtherCAT DEBUG 0-8: Changing state from INIT to PREOP.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">[ 3580.775076] EtherCAT DEBUG 0-8: Configuring...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">[ 3580.775511] EtherCAT DEBUG 0-8: Now in INIT.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">[ 3580.775524] EtherCAT DEBUG 0-8: Clearing FMMU configurations...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">[ 3580.775772] EtherCAT DEBUG 0-8: Clearing sync manager configurations...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">[ 3580.776012] EtherCAT DEBUG 0-8: Clearing DC assignment...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">[ 3580.776261] EtherCAT DEBUG 0-8: Configuring mailbox sync managers...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">[ 3580.776279] EtherCAT DEBUG 0-8: SM0: Addr 0x1000, Size 256, Ctrl 0x26, En 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">[ 3580.776295] EtherCAT DEBUG 0-8: SM1: Addr 0x1100, Size 256, Ctrl 0x22, En 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">[ 3580.777374] EtherCAT ERROR 0-8: Failed to set PREOP state, slave refused state change (INIT + ERROR).<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">[ 3580.777646] EtherCAT ERROR 0-8: AL status message 0x0051: "EEPROM Error".<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">[ 3580.777998] EtherCAT 0-8: Acknowledged state INIT.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">The category data seems to have been written to the SII. Reading out the SII data returns:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">$ ethercat sii_read -p8 -v<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">SII Area:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> </span><span lang="DE">05 0c 03 0e 98 3a 00 00 00 00 00 00 00 00 1b 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="DE"> 3b 00 00 00 64 79 4e 01 01 00 00 00 00 00 00 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="DE"> 00 00 00 00 00 00 00 00 00 10 f4 00 f4 10 f4 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="DE"> 00 10 00 01 00 11 00 01 0c 00 00 00 00 00 00 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="DE"> </span><span lang="EN-US">00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 00 00 00 00 00 00 00 00 00 00 00 00 0f 00 01 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">SII Category 0x000a (STRINGS), 66 words<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> </span><span lang="DE">0d 14 49 6e 76 65 72 74 65 72 20 38 32 30 30 20<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="DE"> 76 65 63 74 6f 72 06 44 72 69 76 65 73 05 44 63<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="DE"> 4f 66 66 09 49 4f 20 49 6e 70 75 74 73 0c 54 78<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="DE"> 50 44 4f 20 54 6f 67 67 6c 65 0b 54 78 50 44 4f<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="DE"> </span><span lang="EN-US">20 53 74 61 74 65 07 49 6e 70 75 74 30 31 07 49<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 6e 70 75 74 30 32 07 49 6e 70 75 74 30 33 0a 49<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 4f 20 4f 75 74 70 75 74 73 08 4f 75 74 70 75 74<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 30 31 08 4f 75 74 70 75 74 30 32 08 4f 75 74 70<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 75 74 30 33<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">SII Category 0x001e (General), 16 words<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 02 00 01 01 01 2b 01 00 00 00 00 04 00 00 02 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 11 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">SII Category 0x0028 (FMMU), 2 words<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 01 02 03 ff<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">SII Category 0x0029 (SyncM), 16 words<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 00 10 00 01 26 00 01 01 00 11 00 01 22 00 01 02<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 00 12 06 00 24 00 01 03 00 19 08 00 20 00 01 04<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">SII Category 0x0032 (TXPDO), 28 words<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 00 1a 06 03 00 04 01 00 00 00 00 00 00 0e 00 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> </span><span lang="DE">00 18 09 05 01 01 00 00 00 18 07 06 01 01 00 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="DE"> e0 58 01 07 03 10 00 00 e0 58 02 08 03 10 00 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="DE"> e0 58 03 09 03 10 00 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="DE">SII Category 0x0033 (RXPDO), 16 words<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="DE"> 00 16 03 02 00 0a 01 00 e1 58 01 0b 03 10 00 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="DE"> e1 58 02 0c 03 10 00 00 e1 58 03 0d 03 10 00 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">SII Category 0x003c (DC), 12 words<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 00 00 03 00 00 00 00 00<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">A short test showed that it is still working with TwinCAT, regardless of the different SII data.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">The slave information output by the master:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">$ ethercat slaves -p8 -v<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">=== Master 0, Slave 8 ===<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Device: Main<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">State: INIT<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Flag: E<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Identity:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Vendor Id: 0x0000003b<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Product code: 0x014e7964<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Revision number: 0x00000001<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Serial number: 0x00000000<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">DL information:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> FMMU bit operation: no<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Distributed clocks: yes, 64 bit<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> DC system time transmission delay: 2570 ns<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 0 MII up open yes 0 3050637146 0 550<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 1 MII down closed no - - - -<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 2 N/A down closed no - - - -<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> 3 N/A down closed no - - - -<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Mailboxes:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Bootstrap RX: 0x1000/244, TX: 0x10f4/244<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Standard RX: 0x1000/256, TX: 0x1100/256<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Supported protocols: CoE, FoE<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">General:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Group: Drives<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Image name: <o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Order number: Inverter 8200 vector<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Device name: Inverter 8200 vector<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> CoE details:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Enable SDO: yes<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Enable SDO Info: yes<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Enable PDO Assign: no<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Enable PDO Configuration: yes<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Enable Upload at startup: no<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Enable SDO complete access: yes<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Flags:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Enable SafeOp: no<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Enable notLRW: no<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Current consumption: 0 mA<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> <o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">What hits the eye is that distributed clock is being indicated as supported, which is wrong, according to the corresponding entry in the ESI file:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><Dc><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> <OpMode><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> <Name>DcOff</Name><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> <Desc>DC unused</Desc><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> <AssignActivate>#x0</AssignActivate><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> <CycleTimeSync0 Factor="0">0</CycleTimeSync0><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> <ShiftTimeSync0>0</ShiftTimeSync0><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> <CycleTimeSync1 Factor="1">0</CycleTimeSync1><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> </span><ShiftTimeSync1>0</ShiftTimeSync1><o:p></o:p></p>
<p class="MsoNormal"> </OpMode><o:p></o:p></p>
<p class="MsoNormal"></Dc><o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="EN-US">Thanks in advance for any idea that could help with the problem.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Arial","sans-serif""><o:p> </o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span style="font-size:10.0pt;font-family:"Arial","sans-serif";mso-fareast-language:EN-GB">Best regards<br>
<br>
Matthias Janßen<br>
Electrical Engineering<br>
<br>
<o:p></o:p></span></p>
<p class="MsoNormal"><o:p> </o:p></p>
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