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<font size="-1">Sorry, it was a stupid mistake in my code,<br>
I was using wrong slave config when calling ecrt_slave_config_pdos<br>
<br>
Bye<br>
</font><br>
<div class="moz-cite-prefix">On 08/05/20 17:40, Mirco Cremasco
wrote:<br>
</div>
<blockquote type="cite"
cite="mid:2a2727e0-d385-d39e-52d0-55aa6aeabe56@cremasco.eu">
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<font size="-1">Hallo all,<br>
I'm testing a setup with 3 modules, EL1018 (input) EL2008
(output) and a EL5151-0021 (encoder).<br>
After succesfull configuring PDO using information gathered
with "ethercat cstruct" command (see pdo_entry struct below) ,<br>
when I write to digital output with <br>
EC_WRITE_U8(domain1_pd + off_dig_out, outval);<br>
it doesn't work!<br>
meanwhile EL1018 end El5151 work correctly.<br>
If I leave EL5151 unconfigured (</font><font size="-1"><font
size="-1">USE_ENC21 undefined)</font> EL2008 works properly.<br>
What I noted is in the output of "ethercat domains --verbose"
the digital output slave has size 14<br>
while it should be equal to 1 <br>
<br>
Can anyone help me?<br>
Thanks<br>
Mirco<br>
<br>
#ethercat domains --verbose<br>
Domain0: LogBaseAddr 0x00000000, Size 47, WorkingCounter 4/6<br>
SlaveConfig 0:1, SM2 (Output), LogAddr 0x00000000, Size 14<br>
00 00 00 00 00 00 00 00 00 00 00 00 00 00 <br>
SlaveConfig 0:1, SM3 ( Input), LogAddr 0x0000000e, Size 18<br>
00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 <br>
00 00 <br>
SlaveConfig 0:2, SM0 ( Input), LogAddr 0x00000020, Size 1<br>
00 <br>
SlaveConfig 0:3, SM2 (Output), LogAddr 0x00000021, Size 14<br>
20 00 00 00 00 00 00 00 00 00 00 00 00 00 <br>
#ethercat domains --verbose<br>
Domain0: LogBaseAddr 0x00000000, Size 2, WorkingCounter 3/3<br>
SlaveConfig 0:2, SM0 ( Input), LogAddr 0x00000000, Size 1<br>
00 <br>
SlaveConfig 0:3, SM0 (Output), LogAddr 0x00000001, Size 1<br>
00 <br>
<br>
<br>
<br>
const static ec_pdo_entry_reg_t domain1_regs[] = {<br>
#ifdef USE_ENC21<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x1,
&offw_5151_ctrl, &bit_enable_latchC},
//EC_WRITE_BIT(DATA, POS, VAL)<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x2,
&offw_5151_ctrl, &bit_enable_exTlatch_pos},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x3,
&offw_5151_ctrl, &bit_set_counter},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x4,
&offw_5151_ctrl, &bit_enable_extlatch_neg},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x5,
&offw_5151_ctrl, &bit_set_output},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x6,
&offw_5151_ctrl, &bit_enable_output_func},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x7,
&offw_5151_ctrl, &bit_enable_measure},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x8,
&offw_5151_ctrl, &bit_set_counter_on_latchC},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x11,
&offw_5151_set_counter_value},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x12,
&offw_5151_set_on_thr_value},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x13,
&offw_5151_set_off_thr_value},<br>
<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0x1,
&offr_5151_status1, &bit_latchC_valid},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0x2,
&offr_5151_status1, &bit_exTlatch_valid},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0x3,
&offr_5151_status1, &bit_set_counter_done},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6001, 0x2,
&offr_5151_status3, &bit_measurement_done},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0x9,
&offr_5151_status2, &bit_A_status},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0xa,
&offr_5151_status2, &bit_B_status},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0xb,
&offr_5151_status2, &bit_C_status},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6001, 0x1,
&offr_5151_status4, &bit_output_status},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0xd,
&offr_5151_status2, &bit_exTlatch_status},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0xe,
&offr_5151_status5, &bit_counter_high},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0x10,
&offr_5151_status6, &bit_txpod_toggle},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0x11,
&offr_5151_couter_value},<br>
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0x12,
&offr_5151_latch_value},<br>
#endif<br>
{DigInSlavePos, Beckhoff_EL1018, 0x6000, 1,
&off_dig_in,NULL},<br>
{DigOutSlavePos, Beckhoff_EL2008, 0x7000, 1,
&off_dig_out,NULL},<br>
{}<br>
};<br>
</font> <br>
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