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<p class="MsoNormal">Dear Etherlab users,<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">I have got problems with Beckhoff encoder interface EL5101-0010 PDO mapping.<o:p></o:p></p>
<p class="MsoNormal">I try to map only TxPDO 0x1a01 (SM3), I haven’t got any errors in init, everything seems to be fine.<o:p></o:p></p>
<p class="MsoNormal">I read encoder value in a loop with 1ms period, return value is always 0.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">In dmesg, slave doesn’t reach OP state, and stay in PREOP state.
<o:p></o:p></p>
<p class="MsoNormal">In Ethercat xml description file, some entries have got 0x0 as index value, and subindex are not completed (strange). I don’t know if I need to take them into account.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><Entry><o:p></o:p></p>
<p class="MsoNormal" style="text-indent:35.4pt"><Index>#x0</Index><o:p></o:p></p>
<p class="MsoNormal"> <BitLen>2</BitLen><o:p></o:p></p>
<p class="MsoNormal"> <Name>Status__</Name><o:p></o:p></p>
<p class="MsoNormal"></Entry><o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">You can see below dmesg :<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">[ 7033.920685] EtherCAT: Requesting master 0...<o:p></o:p></p>
<p class="MsoNormal">[ 7033.920686] EtherCAT DEBUG 0: IDLE -> OPERATION.<o:p></o:p></p>
<p class="MsoNormal">[ 7033.920687] EtherCAT: Successfully requested master 0.<o:p></o:p></p>
<p class="MsoNormal">[ 7034.872900] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xffff895554eb6000)<o:p></o:p></p>
<p class="MsoNormal">[ 7034.872901] EtherCAT DEBUG 0: Created domain 0.<o:p></o:p></p>
<p class="MsoNormal">[ 7035.835219] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></p>
<p class="MsoNormal">[ 7035.835220] EtherCAT DEBUG 0: Creating slave configuration for 0:5, 0x00000002/0x13ED3052.<o:p></o:p></p>
<p class="MsoNormal">[ 7035.835222] EtherCAT DEBUG 0 0:5: Attached slave main-5.<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592742] EtherCAT DEBUG 0 0:5: ecrt_slave_config_sync_manager(sc = 0xffff895552309000, sync_index = 3, dir = 2, watchdog_mode = 1)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592745] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_assign_clear(sc = 0xffff895552309000, sync_index = 3)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592749] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_assign_add(sc = 0xffff895552309000, sync_index = 3, pdo_index = 0x1A01)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592750] EtherCAT DEBUG 0 0:5: Loading default mapping for PDO 0x1A01.<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592753] EtherCAT DEBUG 0 0:5: Entry 0x6000:01.<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592754] EtherCAT DEBUG 0 0:5: Entry 0x6000:02.<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592754] EtherCAT DEBUG 0 0:5: Entry 0x6000:03.<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592755] EtherCAT DEBUG 0 0:5: Entry 0x6000:06.<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592756] EtherCAT DEBUG 0 0:5: Entry 0x6000:07.<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592756] EtherCAT DEBUG 0 0:5: Entry 0x6000:09.<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592757] EtherCAT DEBUG 0 0:5: Entry 0x6000:0A.<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592758] EtherCAT DEBUG 0 0:5: Entry 0x6000:0B.<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592758] EtherCAT DEBUG 0 0:5: Entry 0x6000:0C.<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592759] EtherCAT DEBUG 0 0:5: Entry 0x6000:0D.<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592759] EtherCAT DEBUG 0 0:5: Entry 0x6000:0E.<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592760] EtherCAT DEBUG 0 0:5: Entry 0x6000:0F.<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592761] EtherCAT DEBUG 0 0:5: Entry 0x6000:10.<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592761] EtherCAT DEBUG 0 0:5: Entry 0x6000:11.<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592762] EtherCAT DEBUG 0 0:5: Entry 0x6000:12.<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592764] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff895552309000, pdo_index = 0x1A01)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592767] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length = 1)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592769] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length = 1)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592770] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x03, entry_bit_length = 1)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592772] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x06, entry_bit_length = 1)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592773] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x07, entry_bit_length = 1)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592775] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x09, entry_bit_length = 1)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592776] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0A, entry_bit_length = 1)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592778] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0B, entry_bit_length = 1)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592779] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0C, entry_bit_length = 1)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592781] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0D, entry_bit_length = 1)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592783] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0E, entry_bit_length = 1)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592784] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0F, entry_bit_length = 1)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592786] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x10, entry_bit_length = 1)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592788] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x11, entry_bit_length = 2)<o:p></o:p></p>
<p class="MsoNormal">[ 7036.592789] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x12, entry_bit_length = 2)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153188] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153191] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895552309000, index = 0x6000, subindex = 0x01, domain = 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153193] EtherCAT DEBUG 0: Domain 0: Added 3 bytes at 0.<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153194] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153195] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895552309000, index = 0x6000, subindex = 0x02, domain = 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153196] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153198] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895552309000, index = 0x6000, subindex = 0x03, domain = 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153199] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153200] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895552309000, index = 0x6000, subindex = 0x06, domain = 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153201] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153202] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895552309000, index = 0x6000, subindex = 0x07, domain = 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153203] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153205] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895552309000, index = 0x6000, subindex = 0x09, domain = 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153206] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153207] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895552309000, index = 0x6000, subindex = 0x0A, domain = 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153208] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153209] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895552309000, index = 0x6000, subindex = 0x0B, domain = 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153211] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153212] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895552309000, index = 0x6000, subindex = 0x0C, domain = 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153213] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153214] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895552309000, index = 0x6000, subindex = 0x0D, domain = 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153215] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153216] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895552309000, index = 0x6000, subindex = 0x0E, domain = 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153218] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153219] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895552309000, index = 0x6000, subindex = 0x0F, domain = 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153220] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153221] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895552309000, index = 0x6000, subindex = 0x10, domain = 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153222] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153223] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895552309000, index = 0x6000, subindex = 0x11, domain = 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153224] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.153225] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895552309000, index = 0x6000, subindex = 0x12, domain = 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.720938] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xffff89555461e3c0, mem = 0xffffa33a01b69000)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.720940] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xffff895554eb6000, send_cb = 0xffffffffc09feff0, receive_cb = 0xffffffffc09ffc60, cb_data = 0xffff895554eb6000)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.720940] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xffff895554eb6000)<o:p></o:p></p>
<p class="MsoNormal">[ 7037.720941] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.<o:p></o:p></p>
<p class="MsoNormal">[ 7037.720942] EtherCAT 0: Domain0: Logical address 0x00000000, 3 byte, expected working counter 1.<o:p></o:p></p>
<p class="MsoNormal">[ 7037.720943] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 3 byte, type LRD at ffff89555461ef18.<o:p></o:p></p>
<p class="MsoNormal">[ 7037.720943] EtherCAT DEBUG 0: Stopping master thread.<o:p></o:p></p>
<p class="MsoNormal">[ 7037.720974] EtherCAT DEBUG 0: Master IDLE thread exiting...<o:p></o:p></p>
<p class="MsoNormal">[ 7037.720978] EtherCAT 0: Master thread exited.<o:p></o:p></p>
<p class="MsoNormal">[ 7037.720978] EtherCAT 0: Stopping EoE thread.<o:p></o:p></p>
<p class="MsoNormal">[ 7037.721017] EtherCAT DEBUG 0: EoE thread exiting...<o:p></o:p></p>
<p class="MsoNormal">[ 7037.721021] EtherCAT 0: EoE thread exited.<o:p></o:p></p>
<p class="MsoNormal">[ 7037.721042] EtherCAT DEBUG 0: FSM datagram is ffff895554eb6350.<o:p></o:p></p>
<p class="MsoNormal">[ 7037.721043] EtherCAT 0: Starting EoE thread.<o:p></o:p></p>
<p class="MsoNormal">[ 7037.721152] EtherCAT 0: Starting EtherCAT-OP thread.<o:p></o:p></p>
<p class="MsoNormal">[ 7037.721174] EtherCAT DEBUG 0: EoE thread running.<o:p></o:p></p>
<p class="MsoNormal">[ 7037.721300] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000<o:p></o:p></p>
<p class="MsoNormal">[ 7037.721305] EtherCAT DEBUG 0: mmap()<o:p></o:p></p>
<p class="MsoNormal">[ 7037.721308] EtherCAT DEBUG 0: Vma fault, virtual_address = 00007fffec02a000, offset = 0, page = fffffd0e908af680<o:p></o:p></p>
<p class="MsoNormal">[ 7083.264568] EtherCAT DEBUG 0: Configuration changed (aborting state check).<o:p></o:p></p>
<p class="MsoNormal">[ 7083.264570] EtherCAT DEBUG 0-main-0: Checking system time offset.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.368544] EtherCAT WARNING 0: No app_time received up to now, abort DC time offset calculation.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.368545] EtherCAT DEBUG 0: Requesting OP...<o:p></o:p></p>
<p class="MsoNormal">[ 7118.368549] EtherCAT DEBUG 0-main-5: Changing state from PREOP to OP.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.368550] EtherCAT DEBUG 0-main-5: Configuring...<o:p></o:p></p>
<p class="MsoNormal">[ 7118.384514] EtherCAT DEBUG 0-main-5: Now in INIT.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.384515] EtherCAT DEBUG 0-main-5: Clearing FMMU configurations...<o:p></o:p></p>
<p class="MsoNormal">[ 7118.384515] EtherCAT DEBUG 0-main-5: Clearing mailbox check flag...<o:p></o:p></p>
<p class="MsoNormal">[ 7118.392604] EtherCAT DEBUG 0-main-5: Clearing sync manager configurations...<o:p></o:p></p>
<p class="MsoNormal">[ 7118.400551] EtherCAT DEBUG 0-main-5: Clearing DC assignment...<o:p></o:p></p>
<p class="MsoNormal">[ 7118.408559] EtherCAT DEBUG 0-main-5: Configuring mailbox sync managers...<o:p></o:p></p>
<p class="MsoNormal">[ 7118.408562] EtherCAT DEBUG 0-main-5: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1<o:p></o:p></p>
<p class="MsoNormal">[ 7118.408564] EtherCAT DEBUG 0-main-5: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1<o:p></o:p></p>
<p class="MsoNormal">[ 7118.416573] EtherCAT DEBUG 0-main-5: Assigning SII access to PDI.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.432522] EtherCAT 0: Slave states on main device: INIT, PREOP.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.444566] EtherCAT DEBUG 0-main-5: Now in PREOP.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.444567] EtherCAT DEBUG 0-main-5: Assigning SII access back to EtherCAT.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.456607] EtherCAT DEBUG 0-main-5: Setting PDO assignment of SM2:<o:p></o:p></p>
<p class="MsoNormal">[ 7118.456608] EtherCAT DEBUG 0-main-5: Currently assigned PDOs: 0x1600. PDOs to assign: 0x1600<o:p></o:p></p>
<p class="MsoNormal">[ 7118.456610] EtherCAT DEBUG 0-main-5: Setting number of assigned PDOs to zero.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.456611] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:00.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.456611] EtherCAT DEBUG: 00 <o:p></o:p></p>
<p class="MsoNormal">[ 7118.456612] EtherCAT DEBUG 0-main-5: Expedited download request:<o:p></o:p></p>
<p class="MsoNormal">[ 7118.456612] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 7118.480613] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></p>
<p class="MsoNormal">[ 7118.480613] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 7118.480619] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1600 at position 1.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.480620] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:01.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.480621] EtherCAT DEBUG: 00 16 <o:p></o:p></p>
<p class="MsoNormal">[ 7118.480623] EtherCAT DEBUG 0-main-5: Expedited download request:<o:p></o:p></p>
<p class="MsoNormal">[ 7118.480623] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 7118.496551] EtherCAT 0: Slave states on main device: PREOP.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.504563] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></p>
<p class="MsoNormal">[ 7118.504564] EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 7118.504572] EtherCAT DEBUG 0-main-5: Setting number of assigned PDOs to 1.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.504574] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:00.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.504574] EtherCAT DEBUG: 01 <o:p></o:p></p>
<p class="MsoNormal">[ 7118.504577] EtherCAT DEBUG 0-main-5: Expedited download request:<o:p></o:p></p>
<p class="MsoNormal">[ 7118.504577] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 7118.528572] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></p>
<p class="MsoNormal">[ 7118.528573] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 7118.528586] EtherCAT DEBUG 0-main-5: Successfully configured PDO assignment of SM2.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.528596] EtherCAT DEBUG 0-main-5: Setting PDO assignment of SM3:<o:p></o:p></p>
<p class="MsoNormal">[ 7118.528597] EtherCAT DEBUG 0-main-5: Currently assigned PDOs: 0x1A01. PDOs to assign: 0x1A01<o:p></o:p></p>
<p class="MsoNormal">[ 7118.528602] EtherCAT DEBUG 0-main-5: Setting number of assigned PDOs to zero.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.528604] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:00.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.528605] EtherCAT DEBUG: 00 <o:p></o:p></p>
<p class="MsoNormal">[ 7118.528608] EtherCAT DEBUG 0-main-5: Expedited download request:<o:p></o:p></p>
<p class="MsoNormal">[ 7118.528608] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 7118.552556] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></p>
<p class="MsoNormal">[ 7118.552557] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 7118.552569] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1A01 at position 1.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.552571] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:01.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.552571] EtherCAT DEBUG: 01 1A <o:p></o:p></p>
<p class="MsoNormal">[ 7118.552575] EtherCAT DEBUG 0-main-5: Expedited download request:<o:p></o:p></p>
<p class="MsoNormal">[ 7118.552575] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 7118.580562] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></p>
<p class="MsoNormal">[ 7118.580563] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 7118.580573] EtherCAT DEBUG 0-main-5: Setting number of assigned PDOs to 1.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.580575] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:00.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.580575] EtherCAT DEBUG: 01 <o:p></o:p></p>
<p class="MsoNormal">[ 7118.580578] EtherCAT DEBUG 0-main-5: Expedited download request:<o:p></o:p></p>
<p class="MsoNormal">[ 7118.580579] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 7118.604557] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></p>
<p class="MsoNormal">[ 7118.604558] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 7118.604571] EtherCAT DEBUG 0-main-5: Successfully configured PDO assignment of SM3.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.604578] EtherCAT DEBUG 0-main-5: SM2: Addr 0x1100, Size 6, Ctrl 0x24, En 1<o:p></o:p></p>
<p class="MsoNormal">[ 7118.604581] EtherCAT DEBUG 0-main-5: SM3: Addr 0x1180, Size 3, Ctrl 0x60, En 1<o:p></o:p></p>
<p class="MsoNormal">[ 7118.612565] EtherCAT DEBUG 0 0:5: FMMU: LogOff 0x00000000, Size 3, PhysAddr 0x1180, SM3, Dir in<o:p></o:p></p>
<p class="MsoNormal">[ 7118.636572] EtherCAT ERROR 0-main-5: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).<o:p></o:p></p>
<p class="MsoNormal">[ 7118.644558] EtherCAT ERROR 0-main-5: AL status message 0x0024: "Invalid Input Mapping".<o:p></o:p></p>
<p class="MsoNormal">[ 7118.664569] EtherCAT DEBUG 0-main-5: PREOP + ERROR -> PREOP.<o:p></o:p></p>
<p class="MsoNormal">[ 7118.664573] EtherCAT 0-main-5: Acknowledged state PREOP.<o:p></o:p></p>
<p class="MsoNormal"><b><o:p> </o:p></b></p>
<p class="MsoNormal">You can see below, an extract of my source code which work correctly with other ethercat slaves<o:p></o:p></p>
<p class="MsoNormal">static unsigned int offOutput[15];<o:p></o:p></p>
<p class="MsoNormal">static unsigned int offBit[15];<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">static ec_domain_state_t domain1_state = {};<o:p></o:p></p>
<p class="MsoNormal">static ec_master_state_t master_state = {};<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">static ec_pdo_entry_info_t slave_0_pdo_entries[] = {<o:p></o:p></p>
<p class="MsoNormal"> /* TxPdo 0x1a01 */<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x01, 1}, /* Status Latch C valid */<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x02, 1}, /* Status Latch extern valid */<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x03, 1}, /* Status set counter done */<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x06, 1}, /* Status of input status */<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x07, 1}, /* Status open circuit */<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x09, 1}, /* Status of input A */<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x0a, 1}, /* Status of input B */<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x0b, 1}, /* Status of input C */<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x0c, 1}, /* Status of input gate */<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x0d, 1}, /* Status of extern latch */<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x0e, 1}, /* Status sync error */<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x0f, 1}, /* Status TxPDO state */<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x10, 1}, /* Status TxPDO toogle */<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x11, 2}, /* counter value */<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x12, 2} /* latch value */<o:p></o:p></p>
<p class="MsoNormal">};<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">static ec_pdo_info_t slave_0_pdos[] = {<o:p></o:p></p>
<p class="MsoNormal"> {0x1a01, 15, &slave_0_pdo_entries[0]}<o:p></o:p></p>
<p class="MsoNormal">};<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">ec_sync_info_t slave_0_syncs[] = {<o:p></o:p></p>
<p class="MsoNormal"> {3, EC_DIR_INPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},<o:p></o:p></p>
<p class="MsoNormal"> {0xff}<o:p></o:p></p>
<p class="MsoNormal">};<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">const static ec_pdo_entry_reg_t domain1_regs[] = {<o:p></o:p></p>
<p class="MsoNormal"> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x01, &offOutput[0], &offBit[0]},<o:p></o:p></p>
<p class="MsoNormal"> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x02, &offOutput[1], &offBit[1]},<o:p></o:p></p>
<p class="MsoNormal"> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x03, &offOutput[2], &offBit[2]},<o:p></o:p></p>
<p class="MsoNormal"> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x06, &offOutput[3], &offBit[3]},<o:p></o:p></p>
<p class="MsoNormal"> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x07, &offOutput[4], &offBit[4]},<o:p></o:p></p>
<p class="MsoNormal"> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x09, &offOutput[5], &offBit[5]},<o:p></o:p></p>
<p class="MsoNormal"> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0a, &offOutput[6], &offBit[6]},<o:p></o:p></p>
<p class="MsoNormal"> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0b, &offOutput[7], &offBit[7]},<o:p></o:p></p>
<p class="MsoNormal"> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0c, &offOutput[8], &offBit[8]},<o:p></o:p></p>
<p class="MsoNormal"> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0d, &offOutput[9], &offBit[9]},<o:p></o:p></p>
<p class="MsoNormal"> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0e, &offOutput[10], &offBit[10]},<o:p></o:p></p>
<p class="MsoNormal"> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0f, &offOutput[11], &offBit[11]},<o:p></o:p></p>
<p class="MsoNormal"> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x10, &offOutput[12], &offBit[12]},<o:p></o:p></p>
<p class="MsoNormal"> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x11, &offOutput[13], &offBit[13]},<o:p></o:p></p>
<p class="MsoNormal"> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x12, &offOutput[14], &offBit[14]},<o:p></o:p></p>
<p class="MsoNormal"> {}<o:p></o:p></p>
<p class="MsoNormal">};<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">static ec_master_t *master = nullptr;<o:p></o:p></p>
<p class="MsoNormal">static ec_domain_t *domain1 = nullptr;<o:p></o:p></p>
<p class="MsoNormal">static uint8_t *domain1_pd = nullptr;<o:p></o:p></p>
<p class="MsoNormal">static ec_slave_config_t *sc_el5101 = nullptr;<o:p></o:p></p>
<p class="MsoNormal">static ec_slave_config_state_t sc_el2809_state = {};<o:p></o:p></p>
<p class="MsoNormal">static ec_slave_info_t slaveInfo;<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">bool Worker::init()<o:p></o:p></p>
<p class="MsoNormal">{ <o:p></o:p></p>
<p class="MsoNormal"> master = ecrt_request_master(0);<o:p></o:p></p>
<p class="MsoNormal"> if ( !master )<o:p></o:p></p>
<p class="MsoNormal"> return false; <o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"> domain1 = ecrt_master_create_domain(master);<o:p></o:p></p>
<p class="MsoNormal"> if ( !domain1 ) <o:p></o:p></p>
<p class="MsoNormal"> return false; <o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"> if ( !(sc_el5101 = ecrt_master_slave_config(master, 0, 5, 0x00000002, 0x13ed3052)) )<o:p></o:p></p>
<p class="MsoNormal"> {<o:p></o:p></p>
<p class="MsoNormal"> fprintf(stderr, "Failed to get slave configuration for AKD.\n");<o:p></o:p></p>
<p class="MsoNormal"> return false;<o:p></o:p></p>
<p class="MsoNormal"> }<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"> if (ecrt_slave_config_pdos(sc_el5101, EC_END, slave_0_syncs))<o:p></o:p></p>
<p class="MsoNormal"> return false;<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"> if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs))<o:p></o:p></p>
<p class="MsoNormal"> return false;<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"> if ( ecrt_master_activate( master ) )<o:p></o:p></p>
<p class="MsoNormal"> return false;<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"> if (!(domain1_pd = ecrt_domain_data(domain1)))<o:p></o:p></p>
<p class="MsoNormal"> return false;<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"> return true;<o:p></o:p></p>
<p class="MsoNormal">}<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">void Worker::loop()<o:p></o:p></p>
<p class="MsoNormal">{<o:p></o:p></p>
<p class="MsoNormal"> mMustStop = false; <o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"> while(!mMustStop)<o:p></o:p></p>
<p class="MsoNormal"> {<o:p></o:p></p>
<p class="MsoNormal"> QThread::usleep(1000);<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"> if(!mIsCycleStopped)<o:p></o:p></p>
<p class="MsoNormal"> {<o:p></o:p></p>
<p class="MsoNormal"> // receive process data<o:p></o:p></p>
<p class="MsoNormal"> ecrt_master_receive(master);<o:p></o:p></p>
<p class="MsoNormal"> ecrt_domain_process(domain1);<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"> uint16_t lCounterValue = EC_READ_U16(domain1_pd + offOutput[13]);<o:p></o:p></p>
<p class="MsoNormal"> qDebug() << "counter value :" << lCounterValue;<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"> ecrt_domain_queue(domain1);<o:p></o:p></p>
<p class="MsoNormal"> ecrt_master_send(master);<o:p></o:p></p>
<p class="MsoNormal"> }<o:p></o:p></p>
<p class="MsoNormal"> }<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"> ecrt_release_master(master);<o:p></o:p></p>
<p class="MsoNormal"> master = nullptr;<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"> emit finished();<o:p></o:p></p>
<p class="MsoNormal">}<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Take care of yourself<o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="color:black;mso-fareast-language:FR"><img width="96" height="72" style="width:1.0in;height:.75in" id="Image_x0020_1" src="cid:image001.png@01D62A0A.71D878E0" alt="1572337113342"><o:p></o:p></span></p>
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<p class="MsoNormal"><i><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:gray;mso-fareast-language:FR">Tel: 33 (0)9.72.40.35.08<o:p></o:p></span></i></p>
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</span><span style="font-size:16.0pt;font-family:Webdings;color:green;mso-fareast-language:FR">P</span><span style="color:black;mso-fareast-language:FR"> </span><span style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:#99CC00;mso-fareast-language:FR">Afin
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