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<p class="MsoNormal"><a name="_Hlk494708962"><span lang="EN-US">Dear etherlab-users,<o:p></o:p></span></a></p>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US"><o:p> </o:p></span></span></p>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US">I am quite new to the use of ethercat in linux and struggling to get a particular slave from state PREOP to OP, and to read values of this slave. I have found some commends on
this topic already, where it is suggested to do a “reg_write” at “0x500 -tbool 1”. Other suggested to generate a SII file out of an XML file with TwinCAT and to download it to the slave. I did both but without success. The slave I am struggling with is an
absolute encoder, and the problem might be related to the memory architecture of the EEPROM.<o:p></o:p></span></span></p>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US"><o:p> </o:p></span></span></p>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US">I am using “ethercat version IgH EtherCAT master 1.5.2” on “Ubuntu 20.04.2 LTS” with “uname -r 5.4.84-rt47” kernel.<o:p></o:p></span></span></p>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US"><o:p> </o:p></span></span></p>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US">First, I am wondering if it is required to have an application in order to communicate with slaves or is this also possible via the terminal. I can do the following in the terminal:<o:p></o:p></span></span></p>
<ul style="margin-top:0cm" type="disc">
<li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo1"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US">When I enter “sudo ethercat slaves” all connected slaves a listed, so I assume that the bus topology is correctly recognized.<o:p></o:p></span></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo1"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US">I can list all sdos with “sudo ethercat sdos -p0”, e.g., SDO 0x6004, "Position value" 0x6004:00, r-r-r-, uint32, 32 bit,
"SubIndex 000".<o:p></o:p></span></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo1"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US">I
<b>do not</b> receive the correct position values, e.g., when I read the position sdo with “sudo ethercat upload -p0 -tuint32 0x6004 0” I receive “0x00000000 0”. When I enter ”dmesg” I receive three error massages: “SDO download 0x6004 (4 bytes) aborted.”,
“SDO abort message 0x06010000: "Unsupported access to an object".”, and “Failed to process SDO request.”. However, a meaningful value is displayed in TwinCAT.<o:p></o:p></span></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo1"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US">I
<b>cannot</b> change the state of the slaves to OP via the terminal.<o:p></o:p></span></span></li></ul>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US"><o:p> </o:p></span></span></p>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US">Second, I am wondering if the reg_write can be done in the terminal (which appears not work in my case):<o:p></o:p></span></span></p>
<ol style="margin-top:0cm" start="1" type="1">
<li class="MsoListParagraph" style="margin-left:0cm;mso-list:l1 level1 lfo2"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US">Change state “sudo ethercat state -p0 INIT” works.<o:p></o:p></span></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l1 level1 lfo2"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US">Do “sudo ethercat -p0 reg_write 0x500 -tbool 1” appear to work.<o:p></o:p></span></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l1 level1 lfo2"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US">Change state “sudo ethercat state -p0 PREOP” works.<o:p></o:p></span></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l1 level1 lfo2"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US">Change state “</span></span><span style="mso-bookmark:_Hlk494708962"><span lang="en-SE" style="font-size:9.0pt;font-family:"Lucida Console"">sudo
ethercat state -p0 SAFEOP</span></span><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US">”
<b>does not work</b>. When I enter ”dmesg” I receive two error massages: “Failed to set SAFEOP state, slave refused state change (PREOP + ERROR)” and “AL status message 0x001E: "Invalid input configuration”.”.<o:p></o:p></span></span></li></ol>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US"><o:p> </o:p></span></span></p>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US">I would appreciate it a lot if somebody could answer me my question!<o:p></o:p></span></span></p>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US"><o:p> </o:p></span></span></p>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US">Kind regards,<o:p></o:p></span></span></p>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US">Gabriel<o:p></o:p></span></span></p>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"><span lang="en-SE"><o:p> </o:p></span></span></p>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"><span lang="en-SE"><o:p> </o:p></span></span></p>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-GB" style="font-size:8.0pt;color:#7F7F7F;mso-fareast-language:#2000">_____________________________________________________________________________</span></span><span style="mso-bookmark:_Hlk494708962"><span lang="EN-GB" style="mso-fareast-language:#2000"><o:p></o:p></span></span></p>
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</v:shape><![endif]--><![if !vml]><img width="87" height="78" style="width:.9062in;height:.8125in" src="cid:image002.png@01D70A10.3B96EBE0" align="left" hspace="12" v:shapes="Picture_x0020_7"><![endif]><span style="mso-bookmark:_Hlk494708962"></span><span style="mso-bookmark:_Hlk494708962"><b><span lang="EN-US" style="font-size:9.0pt;color:black;mso-fareast-language:SV">Gabriel
Forstner</span></b></span><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US" style="font-size:9.0pt;color:black;mso-fareast-language:SV">,
<i>Senior Software and Automation Engineer <o:p></o:p></i></span></span></p>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US" style="font-size:9.0pt;color:black;mso-fareast-language:SV">CorPower Ocean
<b><br>
</b>Västberga Allé 60, 126 30 Hägersten <br>
M: +46 73 155 88 88</span></span><span style="mso-bookmark:_Hlk494708962"><span lang="EN-US" style="font-size:9.0pt;mso-fareast-language:SV"><o:p></o:p></span></span></p>
<p class="MsoNormal"><span style="mso-bookmark:_Hlk494708962"></span><a href="http://www.corpowerocean.com/"><span style="mso-bookmark:_Hlk494708962"><span lang="EN-GB" style="font-size:9.0pt;color:blue;mso-fareast-language:SV">www.corpowerocean.com</span></span><span style="mso-bookmark:_Hlk494708962"></span></a><span style="mso-bookmark:_Hlk494708962"></span><span lang="EN-GB" style="font-size:9.0pt;mso-fareast-language:SV"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="en-SE"><o:p> </o:p></span></p>
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