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<p>Hi</p>
<p><br>
</p>
<p>here is what we map, only end of the lines from #14 ff. are interesting for you guys.</p>
<p><br>
</p>
<p><a href="https://github.com/paulscherrerinstitute/ecmccfg/blob/19470cf1c9b71e52777a06f641394d85bc874918/hardware/Beckhoff_slaves/ecmcEL5101_32bit.cmd#L14" class="x_OWAAutoLink" id="LPlnk181948">https://github.com/paulscherrerinstitute/ecmccfg/blob/19470cf1c9b71e52777a06f641394d85bc874918/hardware/Beckhoff_slaves/ecmcEL5101_32bit.cmd#L14</a><br>
</p>
<p><br>
</p>
<p>best</p>
<p>Niko</p>
<p><br>
</p>
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<div class="x_PlainText">--<br>
Paul Scherrer Institute<br>
Dr. Niko Kivel</div>
<div class="x_PlainText">Forschungsstrasse 111<br>
</div>
<div class="x_PlainText">WBGB/017<br>
5232 Villigen PSI<br>
Switzerland<br>
<br>
phone: +41 56 310 2226<br>
email: niko.kivel@psi.ch</div>
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<div id="x_divRplyFwdMsg" dir="ltr"><font face="Calibri, sans-serif" color="#000000" style="font-size:11pt"><b>From:</b> etherlab-users <etherlab-users-bounces@etherlab.org> on behalf of Richard Hacker <ha@igh.de><br>
<b>Sent:</b> Friday, May 15, 2020 2:00:03 PM<br>
<b>To:</b> BUSSIERES Vincent; etherlab-users@etherlab.org<br>
<b>Subject:</b> Re: [etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue</font>
<div> </div>
</div>
</div>
<font size="2"><span style="font-size:10pt;">
<div class="PlainText">Don't be mislead by Beckhoff's XML description files. I've had numerous
<br>
fights with them about incorrect description files! "With TwinCAT it <br>
works" is a standard response. Yeah right. That's because TwinCAT <br>
typically ignores XML description files and reads the configuration <br>
straight out of the slaves during a bus scan.<br>
<br>
Usually we map RxPDO #x1601 and TxPDO #x1a01. There is quite a bit of <br>
SDO configuration in #x800* to get right. You will need to check the <br>
documentation.<br>
<br>
Am 15/05/2020 um 12.00 schrieb BUSSIERES Vincent:<br>
> Dear all,<br>
> <br>
> Finally, I mapped PDO like configurutation obtained using ethercat xml command.<br>
> Mapping seems to be quite different from xml Beckhoff description file.<br>
> <br>
> Now I have no more problem with mapping, slave is in OP state.<br>
> But I try to read encoder value using TxPdo 0x1a00 (0x6000:0x11:32) but I read always 0. Led status of inputs signal A,B, C are OK and change of states when I manually turned motor axis.<br>
> When I write a value in counter value using TxPdo 0x1600 (0x7000:0x11:32), I read the good value with TxPdo.<br>
> <br>
> I don't know why I can't read the true counter value. Does someone have an idea?<br>
> <br>
> Regards<br>
> <br>
> Vincent BUSSIERES<br>
> Responsable Technique Logiciel<br>
> <br>
> <br>
> ZE Ma Campagne<br>
> 36, Impasse Félix Nadar<br>
> 16000 ANGOULEME<br>
> Tel: 33 (0)9.72.40.35.08<br>
> <a href="http://www.hemeria-group.com">www.hemeria-group.com</a><br>
> Afin de contribuer au respect de l'environnement, merci de n'imprimer ce courriel qu'en cas de nécessité.<br>
> Ce message et les fichiers pouvant être attachés sont confidentiels, réservés à l'usage unique des destinataires et n'engagent HEMERIA sous aucune forme que ce soit.<br>
> This email and any files transmitted with it are confidential, intented solely for the unique use of the recipients and don't commit HEMERIA.<br>
> <br>
> <br>
> <br>
> -----Message d'origine-----<br>
> De : Richard Hacker <ha@igh.de><br>
> Envoyé : jeudi 14 mai 2020 17:05<br>
> À : BUSSIERES Vincent <vincent.bussieres@hemeria-group.com>; etherlab-users@etherlab.org<br>
> Objet : Re: [etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue<br>
> <br>
> [10918.274957] EtherCAT ERROR 0-main-5: AL status message 0x001E:<br>
> "Invalid input configuration".<br>
> <br>
> Pls check your configuration... there is something wrong<br>
> <br>
> Restart your EC Network and before you start _any_ application, scan the bus for the available PDO's and use that for a start.<br>
> <br>
> Am 14/05/2020 um 16.59 schrieb BUSSIERES Vincent:<br>
>> I map the inputs RxPdo and slave doesn't go in OP state and stay in PREOP.<br>
>> You can see 2 errors in log file below:<br>
>><br>
>> [10918.266966] EtherCAT ERROR 0-main-5: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).<br>
>> [10918.274957] EtherCAT ERROR 0-main-5: AL status message 0x001E: "Invalid input configuration".<br>
>><br>
>><br>
>> [10917.969204] EtherCAT: Requesting master 0...<br>
>> [10917.969209] EtherCAT DEBUG 0: IDLE -> OPERATION.<br>
>> [10917.969213] EtherCAT: Successfully requested master 0.<br>
>> [10917.969222] EtherCAT DEBUG 0: ecrt_master_create_domain(master =<br>
>> 0xffff895554eb6000) [10917.969226] EtherCAT DEBUG 0: Created domain 0.<br>
>> [10917.969239] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969244] EtherCAT DEBUG 0: Creating slave configuration for 0:5, 0x00000002/0x13ED3052.<br>
>> [10917.969251] EtherCAT DEBUG 0 0:5: Attached slave main-5.<br>
>> [10917.969278] EtherCAT DEBUG 0 0:5: ecrt_slave_config_sync_manager(sc<br>
>> = 0xffff895551db3000, sync_index = 0, dir = 1, watchdog_mode = 2)<br>
>> [10917.969287] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_pdo_assign_clear(sc = 0xffff895551db3000, sync_index<br>
>> = 0) [10917.969294] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_sync_manager(sc = 0xffff895551db3000, sync_index =<br>
>> 1, dir = 2, watchdog_mode = 2) [10917.969300] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_pdo_assign_clear(sc = 0xffff895551db3000, sync_index = 1) [10917.969307] EtherCAT DEBUG 0 0:5: ecrt_slave_config_sync_manager(sc = 0xffff895551db3000, sync_index = 2, dir = 1, watchdog_mode = 1) [10917.969313] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_assign_clear(sc
= 0xffff895551db3000, sync_index = 2) [10917.969324] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_assign_add(sc = 0xffff895551db3000, sync_index = 2, pdo_index = 0x1601) [10917.969327] EtherCAT DEBUG 0 0:5: Loading default mapping for PDO 0x1601.<br>
>> [10917.969331] EtherCAT DEBUG 0 0:5: Entry 0x7000:01.<br>
>> [10917.969334] EtherCAT DEBUG 0 0:5: Entry 0x7000:02.<br>
>> [10917.969337] EtherCAT DEBUG 0 0:5: Entry 0x7000:03.<br>
>> [10917.969339] EtherCAT DEBUG 0 0:5: Entry 0x7000:04.<br>
>> [10917.969342] EtherCAT DEBUG 0 0:5: Entry 0x7000:11.<br>
>> [10917.969349] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_pdo_mapping_clear(sc = 0xffff895551db3000, pdo_index<br>
>> = 0x1601) [10917.969358] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =<br>
>> 0x1601, entry_index = 0x7000, entry_subindex = 0x01, entry_bit_length<br>
>> = 1) [10917.969364] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =<br>
>> 0x1601, entry_index = 0x7000, entry_subindex = 0x02, entry_bit_length<br>
>> = 1) [10917.969370] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1601, entry_index = 0x7000, entry_subindex = 0x03, entry_bit_length = 1) [10917.969376] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
0x1601, entry_index = 0x7000, entry_subindex = 0x04, entry_bit_length = 1) [10917.969383] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1601, entry_index = 0x7000, entry_subindex = 0x11, entry_bit_length = 16)
[10917.969388] EtherCAT DEBUG 0 0:5: ecrt_slave_config_sync_manager(sc = 0xffff895551db3000, sync_index = 3, dir = 2, watchdog_mode = 1) [10917.969393] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_assign_clear(sc = 0xffff895551db3000, sync_index = 3) [10917.969400]
EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_assign_add(sc = 0xffff895551db3000, sync_index = 3, pdo_index = 0x1A01) [10917.969403] EtherCAT DEBUG 0 0:5: Loading default mapping for PDO 0x1A01.<br>
>> [10917.969408] EtherCAT DEBUG 0 0:5: Entry 0x6000:01.<br>
>> [10917.969411] EtherCAT DEBUG 0 0:5: Entry 0x6000:02.<br>
>> [10917.969413] EtherCAT DEBUG 0 0:5: Entry 0x6000:03.<br>
>> [10917.969416] EtherCAT DEBUG 0 0:5: Entry 0x6000:06.<br>
>> [10917.969418] EtherCAT DEBUG 0 0:5: Entry 0x6000:07.<br>
>> [10917.969421] EtherCAT DEBUG 0 0:5: Entry 0x6000:09.<br>
>> [10917.969423] EtherCAT DEBUG 0 0:5: Entry 0x6000:0A.<br>
>> [10917.969426] EtherCAT DEBUG 0 0:5: Entry 0x6000:0B.<br>
>> [10917.969429] EtherCAT DEBUG 0 0:5: Entry 0x6000:0C.<br>
>> [10917.969431] EtherCAT DEBUG 0 0:5: Entry 0x6000:0D.<br>
>> [10917.969434] EtherCAT DEBUG 0 0:5: Entry 0x6000:0E.<br>
>> [10917.969436] EtherCAT DEBUG 0 0:5: Entry 0x6000:0F.<br>
>> [10917.969439] EtherCAT DEBUG 0 0:5: Entry 0x6000:10.<br>
>> [10917.969442] EtherCAT DEBUG 0 0:5: Entry 0x6000:11.<br>
>> [10917.969444] EtherCAT DEBUG 0 0:5: Entry 0x6000:12.<br>
>> [10917.969449] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_pdo_mapping_clear(sc = 0xffff895551db3000, pdo_index<br>
>> = 0x1A01) [10917.969457] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =<br>
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length<br>
>> = 1) [10917.969463] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =<br>
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length<br>
>> = 1) [10917.969469] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =<br>
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x03, entry_bit_length<br>
>> = 1) [10917.969475] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =<br>
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x06, entry_bit_length<br>
>> = 1) [10917.969481] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =<br>
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x07, entry_bit_length<br>
>> = 1) [10917.969487] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x09, entry_bit_length = 1) [10917.969493] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
0x1A01, entry_index = 0x6000, entry_subindex = 0x0A, entry_bit_length = 1) [10917.969499] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0B, entry_bit_length = 1)
[10917.969505] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0C, entry_bit_length = 1) [10917.969511] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc
= 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0D, entry_bit_length = 1) [10917.969517] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex
= 0x0E, entry_bit_length = 1) [10917.969523] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0F, entry_bit_length = 1) [10917.969529] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc
= 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x10, entry_bit_length = 1) [10917.969535] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex
= 0x11, entry_bit_length = 2) [10917.969541] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x12, entry_bit_length = 2) [10917.969550] EtherCAT DEBUG 0: ecrt_master_slave_config(master
= 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969558] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x7000, subindex = 0x01, domain = 0xffff895556dde3c0, bit_position
= 0xffffa33a0574bd64) [10917.969562] EtherCAT DEBUG 0: Domain 0: Added 3 bytes at 0.<br>
>> [10917.969567] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>> product_code = 0x13ed3052) [10917.969573] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =<br>
>> 0x7000, subindex = 0x02, domain = 0xffff895556dde3c0, bit_position =<br>
>> 0xffffa33a0574bd64) [10917.969579] EtherCAT DEBUG 0:<br>
>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,<br>
>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<br>
>> [10917.969585] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =<br>
>> 0x7000, subindex = 0x03, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969590] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969597]
EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x7000, subindex = 0x04, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969602] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000,
alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969609] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x7000, subindex = 0x11, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64)
[10917.969614] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969620] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000,
index = 0x6000, subindex = 0x01, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969623] EtherCAT DEBUG 0: Domain 0: Added 3 bytes at 3.<br>
>> [10917.969629] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>> product_code = 0x13ed3052) [10917.969635] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =<br>
>> 0x6000, subindex = 0x02, domain = 0xffff895556dde3c0, bit_position =<br>
>> 0xffffa33a0574bd64) [10917.969640] EtherCAT DEBUG 0:<br>
>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,<br>
>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<br>
>> [10917.969646] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =<br>
>> 0x6000, subindex = 0x03, domain = 0xffff895556dde3c0, bit_position =<br>
>> 0xffffa33a0574bd64) [10917.969651] EtherCAT DEBUG 0:<br>
>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,<br>
>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<br>
>> [10917.969658] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =<br>
>> 0x6000, subindex = 0x06, domain = 0xffff895556dde3c0, bit_position =<br>
>> 0xffffa33a0574bd64) [10917.969663] EtherCAT DEBUG 0:<br>
>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,<br>
>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<br>
>> [10917.969669] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =<br>
>> 0x6000, subindex = 0x07, domain = 0xffff895556dde3c0, bit_position =<br>
>> 0xffffa33a0574bd64) [10917.969675] EtherCAT DEBUG 0:<br>
>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,<br>
>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)<br>
>> [10917.969681] EtherCAT DEBUG 0 0:5:<br>
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =<br>
>> 0x6000, subindex = 0x09, domain = 0xffff895556dde3c0, bit_position =<br>
>> 0xffffa33a0574bd64) [10917.969686] EtherCAT DEBUG 0:<br>
>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,<br>
>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969693] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000, subindex = 0x0A, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64)
[10917.969698] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969704] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000,
index = 0x6000, subindex = 0x0B, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969711] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)
[10917.969718] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000, subindex = 0x0C, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969723] EtherCAT DEBUG 0: ecrt_master_slave_config(master
= 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969729] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000, subindex = 0x0D, domain = 0xffff895556dde3c0, bit_position
= 0xffffa33a0574bd64) [10917.969735] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969741] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc
= 0xffff895551db3000, index = 0x6000, subindex = 0x0E, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969747] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code
= 0x13ed3052) [10917.969753] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000, subindex = 0x0F, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969758] EtherCAT DEBUG 0: ecrt_master_slave_config(master
= 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969765] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000, subindex = 0x10, domain = 0xffff895556dde3c0, bit_position
= 0xffffa33a0574bd64) [10917.969770] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969776] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc
= 0xffff895551db3000, index = 0x6000, subindex = 0x11, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969781] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code
= 0x13ed3052) [10917.969788] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000, subindex = 0x12, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969826] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain
= 0xffff895556dde3c0, mem = 0xffffa33a01ba1000) [10917.969830] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xffff895554eb6000, send_cb = 0xffffffffc09feff0, receive_cb = 0xffffffffc09ffc60, cb_data = 0xffff895554eb6000) [10917.969833] EtherCAT DEBUG 0:
ecrt_master_activate(master = 0xffff895554eb6000) [10917.969837] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.<br>
>> [10917.969840] EtherCAT 0: Domain0: Logical address 0x00000000, 6 byte, expected working counter 3.<br>
>> [10917.969844] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 6 byte, type LRW at ffff895556dded98.<br>
>> [10917.969846] EtherCAT DEBUG 0: Stopping master thread.<br>
>> [10917.969866] EtherCAT DEBUG 0: Master IDLE thread exiting...<br>
>> [10917.969930] EtherCAT 0: Master thread exited.<br>
>> [10917.969936] EtherCAT 0: Stopping EoE thread.<br>
>> [10917.969988] EtherCAT DEBUG 0: EoE thread exiting...<br>
>> [10917.970056] EtherCAT 0: EoE thread exited.<br>
>> [10917.970059] EtherCAT DEBUG 0: FSM datagram is ffff895554eb6350.<br>
>> [10917.970061] EtherCAT 0: Starting EoE thread.<br>
>> [10917.970258] EtherCAT 0: Starting EtherCAT-OP thread.<br>
>> [10917.970268] EtherCAT DEBUG 0: EoE thread running.<br>
>> [10917.970451] EtherCAT DEBUG 0: Operation thread running with fsm<br>
>> interval = 4000 us, max data size=45000 [10917.970454] EtherCAT DEBUG<br>
>> 0: mmap() [10917.970458] EtherCAT WARNING 0: 1 datagram UNMATCHED!<br>
>> [10917.970467] EtherCAT DEBUG 0: Vma fault, virtual_address =<br>
>> 00007fffec02a000, offset = 0, page = fffffd0e8eb07c40 [10917.978870] EtherCAT DEBUG 0: Configuration changed (aborting state check).<br>
>> [10917.978871] EtherCAT DEBUG 0-main-0: Checking system time offset.<br>
>> [10917.986899] EtherCAT WARNING 0: No app_time received up to now, abort DC time offset calculation.<br>
>> [10917.986900] EtherCAT DEBUG 0: Requesting OP...<br>
>> [10917.986904] EtherCAT DEBUG 0-main-5: Changing state from PREOP to OP.<br>
>> [10917.986905] EtherCAT DEBUG 0-main-5: Configuring...<br>
>> [10918.006913] EtherCAT DEBUG 0-main-5: Now in INIT.<br>
>> [10918.006914] EtherCAT DEBUG 0-main-5: Clearing FMMU configurations...<br>
>> [10918.006915] EtherCAT DEBUG 0-main-5: Clearing mailbox check flag...<br>
>> [10918.014910] EtherCAT DEBUG 0-main-5: Clearing sync manager configurations...<br>
>> [10918.027012] EtherCAT DEBUG 0-main-5: Clearing DC assignment...<br>
>> [10918.034985] EtherCAT DEBUG 0-main-5: Configuring mailbox sync managers...<br>
>> [10918.034986] EtherCAT DEBUG 0-main-5: SM0: Addr 0x1000, Size 128,<br>
>> Ctrl 0x26, En 1 [10918.034987] EtherCAT DEBUG 0-main-5: SM1: Addr<br>
>> 0x1080, Size 128, Ctrl 0x22, En 1 [10918.042915] EtherCAT DEBUG 0-main-5: Assigning SII access to PDI.<br>
>> [10918.058916] EtherCAT 0: Slave states on main device: INIT, PREOP.<br>
>> [10918.070949] EtherCAT DEBUG 0-main-5: Now in PREOP.<br>
>> [10918.070951] EtherCAT DEBUG 0-main-5: Assigning SII access back to EtherCAT.<br>
>> [10918.078925] EtherCAT DEBUG 0-main-5: Setting PDO assignment of SM2:<br>
>> [10918.078926] EtherCAT DEBUG 0-main-5: Currently assigned PDOs:<br>
>> 0x1601. PDOs to assign: 0x1601 [10918.078930] EtherCAT DEBUG 0-main-5: Setting number of assigned PDOs to zero.<br>
>> [10918.078932] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:00.<br>
>> [10918.078932] EtherCAT DEBUG: 00<br>
>> [10918.078935] EtherCAT DEBUG 0-main-5: Expedited download request:<br>
>> [10918.078935] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00<br>
>> [10918.102953] EtherCAT DEBUG 0-main-5: Download response:<br>
>> [10918.102953] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00<br>
>> [10918.102961] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1601 at position 1.<br>
>> [10918.102963] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:01.<br>
>> [10918.102963] EtherCAT DEBUG: 01 16<br>
>> [10918.102965] EtherCAT DEBUG 0-main-5: Expedited download request:<br>
>> [10918.102966] EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00<br>
>> [10918.122875] EtherCAT 0: Slave states on main device: PREOP.<br>
>> [10918.126963] EtherCAT DEBUG 0-main-5: Download response:<br>
>> [10918.126964] EtherCAT DEBUG: 00 30 60 12 1C 01 01 16 00 00<br>
>> [10918.126973] EtherCAT DEBUG 0-main-5: Setting number of assigned PDOs to 1.<br>
>> [10918.126975] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:00.<br>
>> [10918.126979] EtherCAT DEBUG: 01<br>
>> [10918.126986] EtherCAT DEBUG 0-main-5: Expedited download request:<br>
>> [10918.126986] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00<br>
>> [10918.154920] EtherCAT DEBUG 0-main-5: Download response:<br>
>> [10918.154921] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00<br>
>> [10918.154930] EtherCAT DEBUG 0-main-5: Successfully configured PDO assignment of SM2.<br>
>> [10918.154939] EtherCAT DEBUG 0-main-5: Setting PDO assignment of SM3:<br>
>> [10918.154939] EtherCAT DEBUG 0-main-5: Currently assigned PDOs:<br>
>> 0x1A01. PDOs to assign: 0x1A01 [10918.154942] EtherCAT DEBUG 0-main-5: Setting number of assigned PDOs to zero.<br>
>> [10918.154944] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:00.<br>
>> [10918.154944] EtherCAT DEBUG: 00<br>
>> [10918.154946] EtherCAT DEBUG 0-main-5: Expedited download request:<br>
>> [10918.154947] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00<br>
>> [10918.178920] EtherCAT DEBUG 0-main-5: Download response:<br>
>> [10918.178921] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00<br>
>> [10918.178931] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1A01 at position 1.<br>
>> [10918.178932] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:01.<br>
>> [10918.178933] EtherCAT DEBUG: 01 1A<br>
>> [10918.178935] EtherCAT DEBUG 0-main-5: Expedited download request:<br>
>> [10918.178936] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00<br>
>> [10918.202933] EtherCAT DEBUG 0-main-5: Download response:<br>
>> [10918.202934] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00<br>
>> [10918.202941] EtherCAT DEBUG 0-main-5: Setting number of assigned PDOs to 1.<br>
>> [10918.202942] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:00.<br>
>> [10918.202943] EtherCAT DEBUG: 01<br>
>> [10918.202945] EtherCAT DEBUG 0-main-5: Expedited download request:<br>
>> [10918.202945] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00<br>
>> [10918.226914] EtherCAT DEBUG 0-main-5: Download response:<br>
>> [10918.226915] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00<br>
>> [10918.226925] EtherCAT DEBUG 0-main-5: Successfully configured PDO assignment of SM3.<br>
>> [10918.226930] EtherCAT DEBUG 0-main-5: SM2: Addr 0x1100, Size 3, Ctrl 0x64, En 1<br>
>> [10918.226933] EtherCAT DEBUG 0-main-5: SM3: Addr 0x1180, Size 3, Ctrl 0x60, En 1<br>
>> [10918.238918] EtherCAT DEBUG 0 0:5: FMMU: LogOff 0x00000000, Size 3, PhysAddr 0x1100, SM2, Dir out<br>
>> [10918.238921] EtherCAT DEBUG 0 0:5: FMMU: LogOff 0x00000003, Size 3, PhysAddr 0x1180, SM3, Dir in<br>
>> [10918.266966] EtherCAT ERROR 0-main-5: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).<br>
>> [10918.274957] EtherCAT ERROR 0-main-5: AL status message 0x001E: "Invalid input configuration".<br>
>> [10918.294969] EtherCAT DEBUG 0-main-5: PREOP + ERROR -> PREOP.<br>
>> [10918.294972] EtherCAT 0-main-5: Acknowledged state PREOP.<br>
>><br>
>> Regards<br>
>><br>
>> Vincent BUSSIERES<br>
>> Responsable Technique Logiciel<br>
>><br>
>><br>
>> ZE Ma Campagne<br>
>> 36, Impasse Félix Nadar<br>
>> 16000 ANGOULEME<br>
>> Tel: 33 (0)9.72.40.35.08<br>
>> <a href="http://www.hemeria-group.com">www.hemeria-group.com</a><br>
>> Afin de contribuer au respect de l'environnement, merci de n'imprimer ce courriel qu'en cas de nécessité.<br>
>> Ce message et les fichiers pouvant être attachés sont confidentiels, réservés à l'usage unique des destinataires et n'engagent HEMERIA sous aucune forme que ce soit.<br>
>> This email and any files transmitted with it are confidential, intented solely for the unique use of the recipients and don't commit HEMERIA.<br>
>><br>
>><br>
>><br>
>><br>
>> -----Message d'origine-----<br>
>> De : Richard Hacker <ha@igh.de><br>
>> Envoyé : jeudi 14 mai 2020 16:27<br>
>> À : BUSSIERES Vincent <vincent.bussieres@hemeria-group.com>;<br>
>> etherlab-users@etherlab.org Objet : Re: [etherlab-users] Beckhoff<br>
>> encoder interface EL5101-0010 mapping issue<br>
>><br>
>> Did you map the inputs (RxPDO)? I remember that you must map them as well, even though you might not need them!<br>
>><br>
>> Am 14/05/2020 um 16.17 schrieb BUSSIERES Vincent:<br>
>>> Dear Etherlab users,<br>
>>><br>
>>> I have got problems with Beckhoff encoder interface EL5101-0010 PDO mapping.<br>
>>><br>
>>> I try to map only TxPDO 0x1a01 (SM3), I haven’t got any errors in<br>
>>> init, everything seems to be fine.<br>
>>><br>
>>> I read encoder value in a loop with 1ms period, return value is always 0.<br>
>>><br>
>>> In dmesg, slave doesn’t reach OP state, and stay in PREOP state.<br>
>>><br>
>>> In Ethercat xml description file, some entries have got 0x0 as index<br>
>>> value, and subindex are not completed (strange). I don’t know if I<br>
>>> need to take them into account.<br>
>>><br>
>>> <Entry><br>
>>><br>
>>> <Index>#x0</Index><br>
>>><br>
>>> <BitLen>2</BitLen><br>
>>><br>
>>> <Name>Status__</Name><br>
>>><br>
>>> </Entry><br>
>>><br>
>>> You can see below dmesg :<br>
>>><br>
>>> [ 7033.920685] EtherCAT: Requesting master 0...<br>
>>><br>
>>> [ 7033.920686] EtherCAT DEBUG 0: IDLE -> OPERATION.<br>
>>><br>
>>> [ 7033.920687] EtherCAT: Successfully requested master 0.<br>
>>><br>
>>> [ 7034.872900] EtherCAT DEBUG 0: ecrt_master_create_domain(master =<br>
>>> 0xffff895554eb6000)<br>
>>><br>
>>> [ 7034.872901] EtherCAT DEBUG 0: Created domain 0.<br>
>>><br>
>>> [ 7035.835219] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>>> product_code = 0x13ed3052)<br>
>>><br>
>>> [ 7035.835220] EtherCAT DEBUG 0: Creating slave configuration for<br>
>>> 0:5, 0x00000002/0x13ED3052.<br>
>>><br>
>>> [ 7035.835222] EtherCAT DEBUG 0 0:5: Attached slave main-5.<br>
>>><br>
>>> [ 7036.592742] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_sync_manager(sc = 0xffff895552309000, sync_index =<br>
>>> 3, dir = 2, watchdog_mode = 1)<br>
>>><br>
>>> [ 7036.592745] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_assign_clear(sc = 0xffff895552309000,<br>
>>> sync_index = 3)<br>
>>><br>
>>> [ 7036.592749] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_assign_add(sc<br>
>>> = 0xffff895552309000, sync_index = 3, pdo_index = 0x1A01)<br>
>>><br>
>>> [ 7036.592750] EtherCAT DEBUG 0 0:5: Loading default mapping for PDO 0x1A01.<br>
>>><br>
>>> [ 7036.592753] EtherCAT DEBUG 0 0:5: Entry 0x6000:01.<br>
>>><br>
>>> [ 7036.592754] EtherCAT DEBUG 0 0:5: Entry 0x6000:02.<br>
>>><br>
>>> [ 7036.592754] EtherCAT DEBUG 0 0:5: Entry 0x6000:03.<br>
>>><br>
>>> [ 7036.592755] EtherCAT DEBUG 0 0:5: Entry 0x6000:06.<br>
>>><br>
>>> [ 7036.592756] EtherCAT DEBUG 0 0:5: Entry 0x6000:07.<br>
>>><br>
>>> [ 7036.592756] EtherCAT DEBUG 0 0:5: Entry 0x6000:09.<br>
>>><br>
>>> [ 7036.592757] EtherCAT DEBUG 0 0:5: Entry 0x6000:0A.<br>
>>><br>
>>> [ 7036.592758] EtherCAT DEBUG 0 0:5: Entry 0x6000:0B.<br>
>>><br>
>>> [ 7036.592758] EtherCAT DEBUG 0 0:5: Entry 0x6000:0C.<br>
>>><br>
>>> [ 7036.592759] EtherCAT DEBUG 0 0:5: Entry 0x6000:0D.<br>
>>><br>
>>> [ 7036.592759] EtherCAT DEBUG 0 0:5: Entry 0x6000:0E.<br>
>>><br>
>>> [ 7036.592760] EtherCAT DEBUG 0 0:5: Entry 0x6000:0F.<br>
>>><br>
>>> [ 7036.592761] EtherCAT DEBUG 0 0:5: Entry 0x6000:10.<br>
>>><br>
>>> [ 7036.592761] EtherCAT DEBUG 0 0:5: Entry 0x6000:11.<br>
>>><br>
>>> [ 7036.592762] EtherCAT DEBUG 0 0:5: Entry 0x6000:12.<br>
>>><br>
>>> [ 7036.592764] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_mapping_clear(sc = 0xffff895552309000,<br>
>>> pdo_index =<br>
>>> 0x1A01)<br>
>>><br>
>>> [ 7036.592767] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index<br>
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x01,<br>
>>> entry_bit_length = 1)<br>
>>><br>
>>> [ 7036.592769] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index<br>
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x02,<br>
>>> entry_bit_length = 1)<br>
>>><br>
>>> [ 7036.592770] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index<br>
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x03,<br>
>>> entry_bit_length = 1)<br>
>>><br>
>>> [ 7036.592772] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index<br>
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x06,<br>
>>> entry_bit_length = 1)<br>
>>><br>
>>> [ 7036.592773] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index<br>
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x07,<br>
>>> entry_bit_length = 1)<br>
>>><br>
>>> [ 7036.592775] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index<br>
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x09,<br>
>>> entry_bit_length = 1)<br>
>>><br>
>>> [ 7036.592776] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index<br>
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0A,<br>
>>> entry_bit_length = 1)<br>
>>><br>
>>> [ 7036.592778] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index<br>
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0B,<br>
>>> entry_bit_length = 1)<br>
>>><br>
>>> [ 7036.592779] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index<br>
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0C,<br>
>>> entry_bit_length = 1)<br>
>>><br>
>>> [ 7036.592781] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index<br>
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0D,<br>
>>> entry_bit_length = 1)<br>
>>><br>
>>> [ 7036.592783] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index<br>
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0E,<br>
>>> entry_bit_length = 1)<br>
>>><br>
>>> [ 7036.592784] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index<br>
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0F,<br>
>>> entry_bit_length = 1)<br>
>>><br>
>>> [ 7036.592786] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index<br>
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x10,<br>
>>> entry_bit_length = 1)<br>
>>><br>
>>> [ 7036.592788] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index<br>
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x11,<br>
>>> entry_bit_length = 2)<br>
>>><br>
>>> [ 7036.592789] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index<br>
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x12,<br>
>>> entry_bit_length = 2)<br>
>>><br>
>>> [ 7037.153188] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>>> product_code = 0x13ed3052)<br>
>>><br>
>>> [ 7037.153191] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_reg_pdo_entry(sc<br>
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x01, domain =<br>
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<br>
>>><br>
>>> [ 7037.153193] EtherCAT DEBUG 0: Domain 0: Added 3 bytes at 0.<br>
>>><br>
>>> [ 7037.153194] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>>> product_code = 0x13ed3052)<br>
>>><br>
>>> [ 7037.153195] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_reg_pdo_entry(sc<br>
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x02, domain =<br>
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<br>
>>><br>
>>> [ 7037.153196] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>>> product_code = 0x13ed3052)<br>
>>><br>
>>> [ 7037.153198] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_reg_pdo_entry(sc<br>
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x03, domain =<br>
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<br>
>>><br>
>>> [ 7037.153199] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>>> product_code = 0x13ed3052)<br>
>>><br>
>>> [ 7037.153200] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_reg_pdo_entry(sc<br>
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x06, domain =<br>
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<br>
>>><br>
>>> [ 7037.153201] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>>> product_code = 0x13ed3052)<br>
>>><br>
>>> [ 7037.153202] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_reg_pdo_entry(sc<br>
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x07, domain =<br>
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<br>
>>><br>
>>> [ 7037.153203] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>>> product_code = 0x13ed3052)<br>
>>><br>
>>> [ 7037.153205] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_reg_pdo_entry(sc<br>
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x09, domain =<br>
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<br>
>>><br>
>>> [ 7037.153206] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>>> product_code = 0x13ed3052)<br>
>>><br>
>>> [ 7037.153207] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_reg_pdo_entry(sc<br>
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0A, domain =<br>
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<br>
>>><br>
>>> [ 7037.153208] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>>> product_code = 0x13ed3052)<br>
>>><br>
>>> [ 7037.153209] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_reg_pdo_entry(sc<br>
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0B, domain =<br>
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<br>
>>><br>
>>> [ 7037.153211] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>>> product_code = 0x13ed3052)<br>
>>><br>
>>> [ 7037.153212] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_reg_pdo_entry(sc<br>
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0C, domain =<br>
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<br>
>>><br>
>>> [ 7037.153213] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>>> product_code = 0x13ed3052)<br>
>>><br>
>>> [ 7037.153214] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_reg_pdo_entry(sc<br>
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0D, domain =<br>
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<br>
>>><br>
>>> [ 7037.153215] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>>> product_code = 0x13ed3052)<br>
>>><br>
>>> [ 7037.153216] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_reg_pdo_entry(sc<br>
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0E, domain =<br>
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<br>
>>><br>
>>> [ 7037.153218] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>>> product_code = 0x13ed3052)<br>
>>><br>
>>> [ 7037.153219] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_reg_pdo_entry(sc<br>
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0F, domain =<br>
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<br>
>>><br>
>>> [ 7037.153220] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>>> product_code = 0x13ed3052)<br>
>>><br>
>>> [ 7037.153221] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_reg_pdo_entry(sc<br>
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x10, domain =<br>
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<br>
>>><br>
>>> [ 7037.153222] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>>> product_code = 0x13ed3052)<br>
>>><br>
>>> [ 7037.153223] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_reg_pdo_entry(sc<br>
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x11, domain =<br>
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<br>
>>><br>
>>> [ 7037.153224] EtherCAT DEBUG 0: ecrt_master_slave_config(master =<br>
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,<br>
>>> product_code = 0x13ed3052)<br>
>>><br>
>>> [ 7037.153225] EtherCAT DEBUG 0 0:5:<br>
>>> ecrt_slave_config_reg_pdo_entry(sc<br>
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x12, domain =<br>
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<br>
>>><br>
>>> [ 7037.720938] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain =<br>
>>> 0xffff89555461e3c0, mem = 0xffffa33a01b69000)<br>
>>><br>
>>> [ 7037.720940] EtherCAT DEBUG 0: ecrt_master_callbacks(master =<br>
>>> 0xffff895554eb6000, send_cb = 0xffffffffc09feff0, receive_cb =<br>
>>> 0xffffffffc09ffc60, cb_data = 0xffff895554eb6000)<br>
>>><br>
>>> [ 7037.720940] EtherCAT DEBUG 0: ecrt_master_activate(master =<br>
>>> 0xffff895554eb6000)<br>
>>><br>
>>> [ 7037.720941] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.<br>
>>><br>
>>> [ 7037.720942] EtherCAT 0: Domain0: Logical address 0x00000000, 3<br>
>>> byte, expected working counter 1.<br>
>>><br>
>>> [ 7037.720943] EtherCAT 0: Datagram domain0-0-main: Logical offset<br>
>>> 0x00000000, 3 byte, type LRD at ffff89555461ef18.<br>
>>><br>
>>> [ 7037.720943] EtherCAT DEBUG 0: Stopping master thread.<br>
>>><br>
>>> [ 7037.720974] EtherCAT DEBUG 0: Master IDLE thread exiting...<br>
>>><br>
>>> [ 7037.720978] EtherCAT 0: Master thread exited.<br>
>>><br>
>>> [ 7037.720978] EtherCAT 0: Stopping EoE thread.<br>
>>><br>
>>> [ 7037.721017] EtherCAT DEBUG 0: EoE thread exiting...<br>
>>><br>
>>> [ 7037.721021] EtherCAT 0: EoE thread exited.<br>
>>><br>
>>> [ 7037.721042] EtherCAT DEBUG 0: FSM datagram is ffff895554eb6350.<br>
>>><br>
>>> [ 7037.721043] EtherCAT 0: Starting EoE thread.<br>
>>><br>
>>> [ 7037.721152] EtherCAT 0: Starting EtherCAT-OP thread.<br>
>>><br>
>>> [ 7037.721174] EtherCAT DEBUG 0: EoE thread running.<br>
>>><br>
>>> [ 7037.721300] EtherCAT DEBUG 0: Operation thread running with fsm<br>
>>> interval = 4000 us, max data size=45000<br>
>>><br>
>>> [ 7037.721305] EtherCAT DEBUG 0: mmap()<br>
>>><br>
>>> [ 7037.721308] EtherCAT DEBUG 0: Vma fault, virtual_address =<br>
>>> 00007fffec02a000, offset = 0, page = fffffd0e908af680<br>
>>><br>
>>> [ 7083.264568] EtherCAT DEBUG 0: Configuration changed (aborting<br>
>>> state check).<br>
>>><br>
>>> [ 7083.264570] EtherCAT DEBUG 0-main-0: Checking system time offset.<br>
>>><br>
>>> [ 7118.368544] EtherCAT WARNING 0: No app_time received up to now,<br>
>>> abort DC time offset calculation.<br>
>>><br>
>>> [ 7118.368545] EtherCAT DEBUG 0: Requesting OP...<br>
>>><br>
>>> [ 7118.368549] EtherCAT DEBUG 0-main-5: Changing state from PREOP to OP.<br>
>>><br>
>>> [ 7118.368550] EtherCAT DEBUG 0-main-5: Configuring...<br>
>>><br>
>>> [ 7118.384514] EtherCAT DEBUG 0-main-5: Now in INIT.<br>
>>><br>
>>> [ 7118.384515] EtherCAT DEBUG 0-main-5: Clearing FMMU configurations...<br>
>>><br>
>>> [ 7118.384515] EtherCAT DEBUG 0-main-5: Clearing mailbox check flag...<br>
>>><br>
>>> [ 7118.392604] EtherCAT DEBUG 0-main-5: Clearing sync manager<br>
>>> configurations...<br>
>>><br>
>>> [ 7118.400551] EtherCAT DEBUG 0-main-5: Clearing DC assignment...<br>
>>><br>
>>> [ 7118.408559] EtherCAT DEBUG 0-main-5: Configuring mailbox sync managers...<br>
>>><br>
>>> [ 7118.408562] EtherCAT DEBUG 0-main-5: SM0: Addr 0x1000, Size 128,<br>
>>> Ctrl 0x26, En 1<br>
>>><br>
>>> [ 7118.408564] EtherCAT DEBUG 0-main-5: SM1: Addr 0x1080, Size 128,<br>
>>> Ctrl 0x22, En 1<br>
>>><br>
>>> [ 7118.416573] EtherCAT DEBUG 0-main-5: Assigning SII access to PDI.<br>
>>><br>
>>> [ 7118.432522] EtherCAT 0: Slave states on main device: INIT, PREOP.<br>
>>><br>
>>> [ 7118.444566] EtherCAT DEBUG 0-main-5: Now in PREOP.<br>
>>><br>
>>> [ 7118.444567] EtherCAT DEBUG 0-main-5: Assigning SII access back to<br>
>>> EtherCAT.<br>
>>><br>
>>> [ 7118.456607] EtherCAT DEBUG 0-main-5: Setting PDO assignment of SM2:<br>
>>><br>
>>> [ 7118.456608] EtherCAT DEBUG 0-main-5: Currently assigned PDOs: 0x1600.<br>
>>> PDOs to assign: 0x1600<br>
>>><br>
>>> [ 7118.456610] EtherCAT DEBUG 0-main-5: Setting number of assigned<br>
>>> PDOs to zero.<br>
>>><br>
>>> [ 7118.456611] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:00.<br>
>>><br>
>>> [ 7118.456611] EtherCAT DEBUG: 00<br>
>>><br>
>>> [ 7118.456612] EtherCAT DEBUG 0-main-5: Expedited download request:<br>
>>><br>
>>> [ 7118.456612] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00<br>
>>><br>
>>> [ 7118.480613] EtherCAT DEBUG 0-main-5: Download response:<br>
>>><br>
>>> [ 7118.480613] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00<br>
>>><br>
>>> [ 7118.480619] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1600 at position 1.<br>
>>><br>
>>> [ 7118.480620] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:01.<br>
>>><br>
>>> [ 7118.480621] EtherCAT DEBUG: 00 16<br>
>>><br>
>>> [ 7118.480623] EtherCAT DEBUG 0-main-5: Expedited download request:<br>
>>><br>
>>> [ 7118.480623] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00<br>
>>><br>
>>> [ 7118.496551] EtherCAT 0: Slave states on main device: PREOP.<br>
>>><br>
>>> [ 7118.504563] EtherCAT DEBUG 0-main-5: Download response:<br>
>>><br>
>>> [ 7118.504564] EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00<br>
>>><br>
>>> [ 7118.504572] EtherCAT DEBUG 0-main-5: Setting number of assigned<br>
>>> PDOs to 1.<br>
>>><br>
>>> [ 7118.504574] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:00.<br>
>>><br>
>>> [ 7118.504574] EtherCAT DEBUG: 01<br>
>>><br>
>>> [ 7118.504577] EtherCAT DEBUG 0-main-5: Expedited download request:<br>
>>><br>
>>> [ 7118.504577] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00<br>
>>><br>
>>> [ 7118.528572] EtherCAT DEBUG 0-main-5: Download response:<br>
>>><br>
>>> [ 7118.528573] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00<br>
>>><br>
>>> [ 7118.528586] EtherCAT DEBUG 0-main-5: Successfully configured PDO<br>
>>> assignment of SM2.<br>
>>><br>
>>> [ 7118.528596] EtherCAT DEBUG 0-main-5: Setting PDO assignment of SM3:<br>
>>><br>
>>> [ 7118.528597] EtherCAT DEBUG 0-main-5: Currently assigned PDOs: 0x1A01.<br>
>>> PDOs to assign: 0x1A01<br>
>>><br>
>>> [ 7118.528602] EtherCAT DEBUG 0-main-5: Setting number of assigned<br>
>>> PDOs to zero.<br>
>>><br>
>>> [ 7118.528604] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:00.<br>
>>><br>
>>> [ 7118.528605] EtherCAT DEBUG: 00<br>
>>><br>
>>> [ 7118.528608] EtherCAT DEBUG 0-main-5: Expedited download request:<br>
>>><br>
>>> [ 7118.528608] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00<br>
>>><br>
>>> [ 7118.552556] EtherCAT DEBUG 0-main-5: Download response:<br>
>>><br>
>>> [ 7118.552557] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00<br>
>>><br>
>>> [ 7118.552569] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1A01 at position 1.<br>
>>><br>
>>> [ 7118.552571] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:01.<br>
>>><br>
>>> [ 7118.552571] EtherCAT DEBUG: 01 1A<br>
>>><br>
>>> [ 7118.552575] EtherCAT DEBUG 0-main-5: Expedited download request:<br>
>>><br>
>>> [ 7118.552575] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00<br>
>>><br>
>>> [ 7118.580562] EtherCAT DEBUG 0-main-5: Download response:<br>
>>><br>
>>> [ 7118.580563] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00<br>
>>><br>
>>> [ 7118.580573] EtherCAT DEBUG 0-main-5: Setting number of assigned<br>
>>> PDOs to 1.<br>
>>><br>
>>> [ 7118.580575] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:00.<br>
>>><br>
>>> [ 7118.580575] EtherCAT DEBUG: 01<br>
>>><br>
>>> [ 7118.580578] EtherCAT DEBUG 0-main-5: Expedited download request:<br>
>>><br>
>>> [ 7118.580579] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00<br>
>>><br>
>>> [ 7118.604557] EtherCAT DEBUG 0-main-5: Download response:<br>
>>><br>
>>> [ 7118.604558] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00<br>
>>><br>
>>> [ 7118.604571] EtherCAT DEBUG 0-main-5: Successfully configured PDO<br>
>>> assignment of SM3.<br>
>>><br>
>>> [ 7118.604578] EtherCAT DEBUG 0-main-5: SM2: Addr 0x1100, Size 6,<br>
>>> Ctrl 0x24, En 1<br>
>>><br>
>>> [ 7118.604581] EtherCAT DEBUG 0-main-5: SM3: Addr 0x1180, Size 3,<br>
>>> Ctrl 0x60, En 1<br>
>>><br>
>>> [ 7118.612565] EtherCAT DEBUG 0 0:5: FMMU: LogOff 0x00000000, Size 3,<br>
>>> PhysAddr 0x1180, SM3, Dir in<br>
>>><br>
>>> [ 7118.636572] EtherCAT ERROR 0-main-5: Failed to set SAFEOP state,<br>
>>> slave refused state change (PREOP + ERROR).<br>
>>><br>
>>> [ 7118.644558] EtherCAT ERROR 0-main-5: AL status message 0x0024:<br>
>>> "Invalid Input Mapping".<br>
>>><br>
>>> [ 7118.664569] EtherCAT DEBUG 0-main-5: PREOP + ERROR -> PREOP.<br>
>>><br>
>>> [ 7118.664573] EtherCAT 0-main-5: Acknowledged state PREOP.<br>
>>><br>
>>> **<br>
>>><br>
>>> You can see below, an extract of my source code which work correctly<br>
>>> with other ethercat slaves<br>
>>><br>
>>> static unsigned int offOutput[15];<br>
>>><br>
>>> static unsigned int offBit[15];<br>
>>><br>
>>> static ec_domain_state_t domain1_state = {};<br>
>>><br>
>>> static ec_master_state_t master_state = {};<br>
>>><br>
>>> static ec_pdo_entry_info_t slave_0_pdo_entries[] = {<br>
>>><br>
>>> /* TxPdo 0x1a01 */<br>
>>><br>
>>> {0x6000, 0x01, 1}, /* Status Latch C valid */<br>
>>><br>
>>> {0x6000, 0x02, 1}, /* Status Latch extern valid */<br>
>>><br>
>>> {0x6000, 0x03, 1}, /* Status set counter done */<br>
>>><br>
>>> {0x6000, 0x06, 1}, /* Status of input status */<br>
>>><br>
>>> {0x6000, 0x07, 1}, /* Status open circuit */<br>
>>><br>
>>> {0x6000, 0x09, 1}, /* Status of input A */<br>
>>><br>
>>> {0x6000, 0x0a, 1}, /* Status of input B */<br>
>>><br>
>>> {0x6000, 0x0b, 1}, /* Status of input C */<br>
>>><br>
>>> {0x6000, 0x0c, 1}, /* Status of input gate */<br>
>>><br>
>>> {0x6000, 0x0d, 1}, /* Status of extern latch */<br>
>>><br>
>>> {0x6000, 0x0e, 1}, /* Status sync error */<br>
>>><br>
>>> {0x6000, 0x0f, 1}, /* Status TxPDO state */<br>
>>><br>
>>> {0x6000, 0x10, 1}, /* Status TxPDO toogle */<br>
>>><br>
>>> {0x6000, 0x11, 2}, /* counter value */<br>
>>><br>
>>> {0x6000, 0x12, 2} /* latch value */<br>
>>><br>
>>> };<br>
>>><br>
>>> static ec_pdo_info_t slave_0_pdos[] = {<br>
>>><br>
>>> {0x1a01, 15, &slave_0_pdo_entries[0]}<br>
>>><br>
>>> };<br>
>>><br>
>>> ec_sync_info_t slave_0_syncs[] = {<br>
>>><br>
>>> {3, EC_DIR_INPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},<br>
>>><br>
>>> {0xff}<br>
>>><br>
>>> };<br>
>>><br>
>>> const static ec_pdo_entry_reg_t domain1_regs[] = {<br>
>>><br>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x01, &offOutput[0],<br>
>>> &offBit[0]},<br>
>>><br>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x02, &offOutput[1],<br>
>>> &offBit[1]},<br>
>>><br>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x03, &offOutput[2],<br>
>>> &offBit[2]},<br>
>>><br>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x06, &offOutput[3],<br>
>>> &offBit[3]},<br>
>>><br>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x07, &offOutput[4],<br>
>>> &offBit[4]},<br>
>>><br>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x09, &offOutput[5],<br>
>>> &offBit[5]},<br>
>>><br>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0a, &offOutput[6],<br>
>>> &offBit[6]},<br>
>>><br>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0b, &offOutput[7],<br>
>>> &offBit[7]},<br>
>>><br>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0c, &offOutput[8],<br>
>>> &offBit[8]},<br>
>>><br>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0d, &offOutput[9],<br>
>>> &offBit[9]},<br>
>>><br>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0e, &offOutput[10],<br>
>>> &offBit[10]},<br>
>>><br>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0f, &offOutput[11],<br>
>>> &offBit[11]},<br>
>>><br>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x10, &offOutput[12],<br>
>>> &offBit[12]},<br>
>>><br>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x11, &offOutput[13],<br>
>>> &offBit[13]},<br>
>>><br>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x12, &offOutput[14],<br>
>>> &offBit[14]},<br>
>>><br>
>>> {}<br>
>>><br>
>>> };<br>
>>><br>
>>> static ec_master_t *master = nullptr;<br>
>>><br>
>>> static ec_domain_t *domain1 = nullptr;<br>
>>><br>
>>> static uint8_t *domain1_pd = nullptr;<br>
>>><br>
>>> static ec_slave_config_t *sc_el5101 = nullptr;<br>
>>><br>
>>> static ec_slave_config_state_t sc_el2809_state = {};<br>
>>><br>
>>> static ec_slave_info_t slaveInfo;<br>
>>><br>
>>> bool Worker::init()<br>
>>><br>
>>> {<br>
>>><br>
>>> master = ecrt_request_master(0);<br>
>>><br>
>>> if ( !master )<br>
>>><br>
>>> return false;<br>
>>><br>
>>> domain1 = ecrt_master_create_domain(master);<br>
>>><br>
>>> if ( !domain1 )<br>
>>><br>
>>> return false;<br>
>>><br>
>>> if ( !(sc_el5101 = ecrt_master_slave_config(master, 0, 5,<br>
>>> 0x00000002, 0x13ed3052)) )<br>
>>><br>
>>> {<br>
>>><br>
>>> fprintf(stderr, "Failed to get slave configuration for<br>
>>> AKD.\n");<br>
>>><br>
>>> return false;<br>
>>><br>
>>> }<br>
>>><br>
>>> if (ecrt_slave_config_pdos(sc_el5101, EC_END, slave_0_syncs))<br>
>>><br>
>>> return false;<br>
>>><br>
>>> if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs))<br>
>>><br>
>>> return false;<br>
>>><br>
>>> if ( ecrt_master_activate( master ) )<br>
>>><br>
>>> return false;<br>
>>><br>
>>> if (!(domain1_pd = ecrt_domain_data(domain1)))<br>
>>><br>
>>> return false;<br>
>>><br>
>>> return true;<br>
>>><br>
>>> }<br>
>>><br>
>>> void Worker::loop()<br>
>>><br>
>>> {<br>
>>><br>
>>> mMustStop = false;<br>
>>><br>
>>> while(!mMustStop)<br>
>>><br>
>>> {<br>
>>><br>
>>> QThread::usleep(1000);<br>
>>><br>
>>> if(!mIsCycleStopped)<br>
>>><br>
>>> {<br>
>>><br>
>>> // receive process data<br>
>>><br>
>>> ecrt_master_receive(master);<br>
>>><br>
>>> ecrt_domain_process(domain1);<br>
>>><br>
>>> uint16_t lCounterValue = EC_READ_U16(domain1_pd +<br>
>>> offOutput[13]);<br>
>>><br>
>>> qDebug() << "counter value :" << lCounterValue;<br>
>>><br>
>>> ecrt_domain_queue(domain1);<br>
>>><br>
>>> ecrt_master_send(master);<br>
>>><br>
>>> }<br>
>>><br>
>>> }<br>
>>><br>
>>> ecrt_release_master(master);<br>
>>><br>
>>> master = nullptr;<br>
>>><br>
>>> emit finished();<br>
>>><br>
>>> }<br>
>>><br>
>>> Take care of yourself<br>
>>><br>
>>> *Vincent BUSSIERES*<br>
>>><br>
>>> *Responsable Technique Logiciel*<br>
>>><br>
>>> **<br>
>>><br>
>>> 1572337113342<br>
>>><br>
>>> /ZE Ma Campagne/<br>
>>><br>
>>> /36, Impasse Félix Nadar/<br>
>>><br>
>>> /16000 ANGOULEME/<br>
>>><br>
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>>><br>
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>>> N<br>
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>>> %<br>
>>> 2f>/ PAfin de contribuer au respect de l'environnement, merci de<br>
>>> n'imprimer ce courriel qu'en cas de nécessité.<br>
>>><br>
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>>><br>
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