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<p class="MsoNormal">Dear all,<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">I get the following error when I configure the mapping of PDO. I get this message one time after ecrt_master_send call in the cyclic task.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">[16674.842444] EtherCAT: Requesting master 0...<o:p></o:p></p>
<p class="MsoNormal">[16674.842448] EtherCAT: Successfully requested master 0.<o:p></o:p></p>
<p class="MsoNormal">[16674.842716] EtherCAT 0: Domain0: Logical address 0x00000000, 20 byte, expected working counter 6.<o:p></o:p></p>
<p class="MsoNormal">[16674.842719] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 20 byte, type LRW at 000000000238e3cd.<o:p></o:p></p>
<p class="MsoNormal">[16674.842720] EtherCAT 0: Domain1: Logical address 0x00000014, 34 byte, expected working counter 3.<o:p></o:p></p>
<p class="MsoNormal">[16674.842721] EtherCAT 0: Datagram domain1-20-main: Logical offset 0x00000014, 34 byte, type LRW at 000000003e0db4fa.<o:p></o:p></p>
<p class="MsoNormal">[16674.842729] EtherCAT 0: Master thread exited.<o:p></o:p></p>
<p class="MsoNormal">[16674.842730] EtherCAT 0: Starting EtherCAT-OP thread.<o:p></o:p></p>
<p class="MsoNormal">[16674.842755] EtherCAT WARNING 0: 2 datagrams UNMATCHED!<o:p></o:p></p>
<p class="MsoNormal">[16674.862271] EtherCAT WARNING 0: No app_time received up to now, abort DC time offset calculation.<o:p></o:p></p>
<p class="MsoNormal">[16674.878270] EtherCAT 0: Slave states on main device: INIT, PREOP.<o:p></o:p></p>
<p class="MsoNormal">[16674.892270] EtherCAT 0: Slave states on main device: PREOP, OP.<o:p></o:p></p>
<p class="MsoNormal">[16674.919270] EtherCAT ERROR 0-main-0: SDO download 0x1605:00 (1 bytes) aborted.<o:p></o:p></p>
<p class="MsoNormal">[16674.919273] EtherCAT ERROR 0-main-0: SDO abort message 0x06010002: "Attempt to write a read-only object".<o:p></o:p></p>
<p class="MsoNormal">[16674.919274] EtherCAT WARNING 0-main-0: Failed to clear PDO mapping.<o:p></o:p></p>
<p class="MsoNormal">[16674.919275] EtherCAT WARNING 0-main-0: Currently mapped PDO entries: 0x607A:00/32 0x60FF:00/32 0x6071:00/16 0x6072:00/16 0x6040:00/16 0x6060:00/8 0x0000:00/8. Entries to map: 0x607A:00/32 0x60FF:00/32 0x6071:00/16 0x6072:00/16 0x6040:00/16
0x6060:00/8<o:p></o:p></p>
<p class="MsoNormal">[16674.919280] EtherCAT WARNING 0-main-0: Failed to configure mapping of PDO 0x1605.<o:p></o:p></p>
<p class="MsoNormal">[16674.926273] EtherCAT ERROR 0-main-0: SDO download 0x161D:00 (1 bytes) aborted.<o:p></o:p></p>
<p class="MsoNormal">[16674.926275] EtherCAT ERROR 0-main-0: SDO abort message 0x06010002: "Attempt to write a read-only object".<o:p></o:p></p>
<p class="MsoNormal">[16674.926277] EtherCAT WARNING 0-main-0: Failed to clear PDO mapping.<o:p></o:p></p>
<p class="MsoNormal">[16674.926277] EtherCAT WARNING 0-main-0: Currently mapped PDO entries: 0x60FE:01/32. Entries to map: 0x60FE:01/32<o:p></o:p></p>
<p class="MsoNormal">[16674.926280] EtherCAT WARNING 0-main-0: Failed to configure mapping of PDO 0x161D.<o:p></o:p></p>
<p class="MsoNormal">[16674.956269] EtherCAT ERROR 0-main-0: SDO download 0x1A00:00 (1 bytes) aborted.<o:p></o:p></p>
<p class="MsoNormal">[16674.956272] EtherCAT ERROR 0-main-0: SDO abort message 0x06010002: "Attempt to write a read-only object".<o:p></o:p></p>
<p class="MsoNormal">[16674.956273] EtherCAT WARNING 0-main-0: Failed to clear PDO mapping.<o:p></o:p></p>
<p class="MsoNormal">[16674.956273] EtherCAT WARNING 0-main-0: Currently mapped PDO entries: 0x6064:00/32 0x60FD:00/32 0x6041:00/16. Entries to map: 0x6064:00/32 0x60FD:00/32 0x6041:00/16<o:p></o:p></p>
<p class="MsoNormal">[16674.956276] EtherCAT WARNING 0-main-0: Failed to configure mapping of PDO 0x1A00.<o:p></o:p></p>
<p class="MsoNormal">[16674.962271] EtherCAT ERROR 0-main-0: SDO download 0x1A0B:00 (1 bytes) aborted.<o:p></o:p></p>
<p class="MsoNormal">[16674.962273] EtherCAT ERROR 0-main-0: SDO abort message 0x06010002: "Attempt to write a read-only object".<o:p></o:p></p>
<p class="MsoNormal">[16674.962275] EtherCAT WARNING 0-main-0: Failed to clear PDO mapping.<o:p></o:p></p>
<p class="MsoNormal">[16674.962276] EtherCAT WARNING 0-main-0: Currently mapped PDO entries: 0x6061:00/8 0x0000:00/8. Entries to map: 0x6061:00/8<o:p></o:p></p>
<p class="MsoNormal">[16674.962278] EtherCAT WARNING 0-main-0: Failed to configure mapping of PDO 0x1A0B.<o:p></o:p></p>
<p class="MsoNormal">[16674.968273] EtherCAT ERROR 0-main-0: SDO download 0x1A18:00 (1 bytes) aborted.<o:p></o:p></p>
<p class="MsoNormal">[16674.968274] EtherCAT ERROR 0-main-0: SDO abort message 0x06010002: "Attempt to write a read-only object".<o:p></o:p></p>
<p class="MsoNormal">[16674.968275] EtherCAT WARNING 0-main-0: Failed to clear PDO mapping.<o:p></o:p></p>
<p class="MsoNormal">[16674.968276] EtherCAT WARNING 0-main-0: Currently mapped PDO entries: 0x6079:00/32. Entries to map: 0x6079:00/32<o:p></o:p></p>
<p class="MsoNormal">[16674.968278] EtherCAT WARNING 0-main-0: Failed to configure mapping of PDO 0x1A18.<o:p></o:p></p>
<p class="MsoNormal">[16675.010271] EtherCAT 0: Slave states on main device: PREOP, SAFEOP, OP.<o:p></o:p></p>
<p class="MsoNormal">[16675.025267] EtherCAT 0: Slave states on main device: PREOP, OP.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Mapping seems to be OK and I can read and write in most PDOs.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">[root@localhost user]# ethercat cstruct -a0 -p0<o:p></o:p></p>
<p class="MsoNormal">/* Master 0, Slave 0<o:p></o:p></p>
<p class="MsoNormal">* Vendor ID: 0x0000009a<o:p></o:p></p>
<p class="MsoNormal">* Product code: 0x00030924<o:p></o:p></p>
<p class="MsoNormal">* Revision number: 0x00010420<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_pdo_entry_info_t slave_0_pdo_entries[] = {<o:p></o:p></p>
<p class="MsoNormal"> {0x607a, 0x00, 32},<o:p></o:p></p>
<p class="MsoNormal"> {0x60ff, 0x00, 32},<o:p></o:p></p>
<p class="MsoNormal"> {0x6071, 0x00, 16},<o:p></o:p></p>
<p class="MsoNormal"> {0x6072, 0x00, 16},<o:p></o:p></p>
<p class="MsoNormal"> {0x6040, 0x00, 16},<o:p></o:p></p>
<p class="MsoNormal"> {0x6060, 0x00, 8},<o:p></o:p></p>
<p class="MsoNormal"> {0x60fe, 0x01, 32},<o:p></o:p></p>
<p class="MsoNormal"> {0x6064, 0x00, 32},<o:p></o:p></p>
<p class="MsoNormal"> {0x60fd, 0x00, 32},<o:p></o:p></p>
<p class="MsoNormal"> {0x6041, 0x00, 16},<o:p></o:p></p>
<p class="MsoNormal"> {0x6061, 0x00, 8},<o:p></o:p></p>
<p class="MsoNormal"> {0x6079, 0x00, 32},<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_pdo_info_t slave_0_pdos[] = {<o:p></o:p></p>
<p class="MsoNormal"> {0x1605, 6, slave_0_pdo_entries + 0},<o:p></o:p></p>
<p class="MsoNormal"> {0x161d, 1, slave_0_pdo_entries + 6},<o:p></o:p></p>
<p class="MsoNormal"> {0x1a00, 3, slave_0_pdo_entries + 7},<o:p></o:p></p>
<p class="MsoNormal"> {0x1a0b, 1, slave_0_pdo_entries + 10},<o:p></o:p></p>
<p class="MsoNormal"> {0x1a18, 1, slave_0_pdo_entries + 11},<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"> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},<o:p></o:p></p>
<p class="MsoNormal"> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},<o:p></o:p></p>
<p class="MsoNormal"> {2, EC_DIR_OUTPUT, 2, slave_0_pdos + 0, EC_WD_ENABLE},<o:p></o:p></p>
<p class="MsoNormal"> {3, EC_DIR_INPUT, 3, slave_0_pdos + 2, EC_WD_DISABLE},<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">[root@localhost user]# ethercat pdos -a0 -p0<o:p></o:p></p>
<p class="MsoNormal">SM0: PhysAddr 0x1800, DefaultSize 140, ControlRegister 0x26, Enable 1<o:p></o:p></p>
<p class="MsoNormal">SM1: PhysAddr 0x1900, DefaultSize 140, ControlRegister 0x22, Enable 1<o:p></o:p></p>
<p class="MsoNormal">SM2: PhysAddr 0x1100, DefaultSize 32, ControlRegister 0x64, Enable 1<o:p></o:p></p>
<p class="MsoNormal"> RxPDO 0x1605 ""<o:p></o:p></p>
<p class="MsoNormal"> PDO entry 0x607a:00, 32 bit, ""<o:p></o:p></p>
<p class="MsoNormal"> PDO entry 0x60ff:00, 32 bit, ""<o:p></o:p></p>
<p class="MsoNormal"> PDO entry 0x6071:00, 16 bit, ""<o:p></o:p></p>
<p class="MsoNormal"> PDO entry 0x6072:00, 16 bit, ""<o:p></o:p></p>
<p class="MsoNormal"> PDO entry 0x6040:00, 16 bit, ""<o:p></o:p></p>
<p class="MsoNormal"> PDO entry 0x6060:00, 8 bit, ""<o:p></o:p></p>
<p class="MsoNormal"> RxPDO 0x161d ""<o:p></o:p></p>
<p class="MsoNormal"> PDO entry 0x60fe:01, 32 bit, ""<o:p></o:p></p>
<p class="MsoNormal">SM3: PhysAddr 0x1180, DefaultSize 32, ControlRegister 0x20, Enable 1<o:p></o:p></p>
<p class="MsoNormal"> TxPDO 0x1a00 ""<o:p></o:p></p>
<p class="MsoNormal"> PDO entry 0x6064:00, 32 bit, ""<o:p></o:p></p>
<p class="MsoNormal"> PDO entry 0x60fd:00, 32 bit, ""<o:p></o:p></p>
<p class="MsoNormal"> PDO entry 0x6041:00, 16 bit, ""<o:p></o:p></p>
<p class="MsoNormal"> TxPDO 0x1a0b ""<o:p></o:p></p>
<p class="MsoNormal"> PDO entry 0x6061:00, 8 bit, ""<o:p></o:p></p>
<p class="MsoNormal"> TxPDO 0x1a18 ""<o:p></o:p></p>
<p class="MsoNormal"> PDO entry 0x6079:00, 32 bit, ""<o:p></o:p></p>
<p class="MsoNormal">[root@localhost user]#<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Have you got an idea ?<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Regards<o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D;mso-fareast-language:FR">Vincent BUSSIERES<o:p></o:p></span></b></p>
<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black;mso-fareast-language:FR">Responsable Technique Logiciel<o:p></o:p></span></b></p>
<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black;mso-fareast-language:FR"><o:p> </o:p></span></b></p>
<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@01D690FF.3C5DD190" alt="1572337113342"><o:p></o:p></span></p>
<p class="MsoNormal"><i><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#00295C;mso-fareast-language:FR">ZE Ma Campagne<o:p></o:p></span></i></p>
<p class="MsoNormal"><i><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#00295C;mso-fareast-language:FR">36, Impasse Félix Nadar<o:p></o:p></span></i></p>
<p class="MsoNormal"><i><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#00295C;mso-fareast-language:FR">16000 ANGOULEME<o:p></o:p></span></i></p>
<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
de contribuer au respect de l'environnement, merci de n'imprimer ce courriel qu'en cas de nécessité.</span><span style="color:black;mso-fareast-language:FR"><o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:gray;mso-fareast-language:FR">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.</span><span style="color:black;mso-fareast-language:FR"><br>
</span><span lang="EN-GB" style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:gray;mso-fareast-language:FR">This email and any files transmitted with it are confidential, intented solely for the unique use of the recipients and don't commit HEMERIA.</span><span style="color:black;mso-fareast-language:FR"><o:p></o:p></span></p>
<p class="MsoNormal"><b><span style="font-size:10.0pt;color:black;mso-fareast-language:FR"><o:p> </o:p></span></b></p>
<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></b></p>
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