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Hi Andreas,</div>
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Thank you for your reply.<br>
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I've tried to configure from the c++ application (is this what you meant?) using:</div>
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ecrt_slave_config_sdo8( slave_config, 0x1C13, 0, 0 ); // clear sm pdo 0x1c13
<div> ecrt_slave_config_sdo8( slave_config, 0x1A00, 0, 0 ); // clear TxPdo 0x1A00</div>
<div> // Define TxPdo <br>
</div>
<div> ecrt_slave_config_sdo32( slave_config, 0x1A00, 1, 0x31010010 ); // Status</div>
<div> ecrt_slave_config_sdo32( slave_config, 0x1A00, 2, 0x31010020 ); // Pos</div>
<div> ecrt_slave_config_sdo32( slave_config, 0x1A00, 3, 0x31010020 ); // Velocity</div>
<div> ecrt_slave_config_sdo8( slave_config, 0x1A00, 0, 3 ); // Number of PDO entries for 0x1A00</div>
<div> ecrt_slave_config_sdo16( slave_config, 0x1C13, 1, 0x1A00 ); // TxPdo in 0x1C13:1</div>
ecrt_slave_config_sdo8( slave_config, 0x1C13, 0, 1 ); // Number of TxPDO<br>
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But I get this in the log:<br>
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Sep 26 10:10:06 ctrlPC5 kernel: [253808.144369] EtherCAT ERROR 0-2: SDO download 0x1A00:00 (1 bytes) aborted.
<div>Sep 26 10:10:06 ctrlPC5 kernel: [253808.144372] EtherCAT ERROR 0-2: SDO abort message 0x06010002: "Attempt to write a read-only object".</div>
<div>Sep 26 10:10:06 ctrlPC5 kernel: [253808.144373] EtherCAT ERROR 0-2: SDO configuration failed.</div>
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<div>Is there something that needs to be enabled in order to configure?</div>
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<div>The device seems to be configured for one magnet:</div>
<div>ethercat -m0 -p2 upload 0x2000 0x0b replies with 0x01 1<br>
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<div>Best regards,</div>
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<div>Joachim<br>
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<b>Från:</b> Andreas Stewering-Bone<br>
<b>Skickat:</b> Måndag, 26 september 2022 08:30<br>
<b>Till:</b> Joachim Sällvin; etherlab-users@etherlab.org<br>
<b>Ämne:</b> Re: [Etherlab-users] Failing to configure PDOs of a MTS Temposonics V slave
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<div>Dear Joachim,</div>
<div><br>
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<div>The master configures the specific slaves during application startup. </div>
<div>So no need to do it manually.</div>
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<div>The PDO mapping for this slave is dynamically, </div>
<div>because you can configure the number of measurment magnets.</div>
<div>Please read the sensor EtherCAT documentation and the XML slave description.</div>
<div>With this information you can extend the cstruct to configure the specific PDO mapping.</div>
<div>Please see the user space example in the master git repo.</div>
<div><br>
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<div>Best regards</div>
<div><br>
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<div>Andreas</div>
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<div>Am Sonntag, dem 25.09.2022 um 17:08 +0000 schrieb Joachim Sällvin:</div>
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Hi all,</div>
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Any ideas on how to configure the pdos of a MTS Temposonics slave? A brand new linear position sensor that doesn't seem to have any default configuration. Shouldn't it be possible to configure it from the command line?<br>
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When I try I get: <br>
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<div class="x_elementToProof" style="font-size:12pt">SDO transfer aborted with code 0x08000000: General error (see details below), why?<br>
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<b><br>
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<b>Some information about the system<br>
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<b>ethercat slaves</b></div>
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<div>Master0</div>
<div> 0 1402:0 PREOP + ifm IO-Link Master AL1332</div>
<div> 1 1401:0 PREOP + S300/S400/S600/S700 EtherCAT Drive (CoE)</div>
<div> <i> 2 1403:0 PREOP + MTS Device V</i></div>
3 1444:0 PREOP + ifm IO-Link Master AL1332<br>
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<b>ethercat -m0 -p2 cstruct</b>
<div>/* Master 0, Slave 2, "MTS Temposonics V"</div>
<div> * Vendor ID: 0x00000040</div>
<div> * Product code: 0x0000000f</div>
<div> * Revision number: 0x00000029</div>
<div> */</div>
<div><br>
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<div>ec_sync_info_t slave_2_syncs[] = {</div>
<div> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},</div>
<div> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},</div>
<div> {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_ENABLE},</div>
<div> {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},</div>
<div> {0xff}</div>
};<br>
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<b>ethercat -m0 -p2 pdos</b>
<div>SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x36, Enable 1</div>
<div>SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x32, Enable 1</div>
<div>SM2: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x74, Enable 1</div>
<div>SM3: PhysAddr 0x1400, DefaultSize 448, ControlRegister 0x30, Enable 1</div>
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<b>ethercat -m0 -p2 sdos</b></div>
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.....</div>
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SDO 0x1a00, "Magnet 1"
<div> 0x1a00:00, r-r-r-, uint8, 8 bit, "Number of elements"</div>
<div> 0x1a00:01, rwrwrw, uint16, 16 bit, "Status"</div>
<div> 0x1a00:02, rwrwrw, uint32, 32 bit, "Position"</div>
<div> 0x1a00:03, rwrwrw, uint32, 32 bit, "Velocity"</div>
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0x1a00:04, rwrwrw, uint32, 32 bit, "Acceleration"<b><br>
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<b>......<br>
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SDO 0x1c13, "Sync Manager TxPDO Assign"
<div> 0x1c13:00, rwrwrw, uint8, 8 bit, "Number of elements"</div>
<div> 0x1c13:01, rwrwrw, uint16, 16 bit, ""</div>
<div> 0x1c13:02, rwrwrw, uint16, 16 bit, ""</div>
<div> 0x1c13:03, rwrwrw, uint16, 16 bit, ""</div>
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<b>I thought I could do like this </b><br>
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sudo ethercat -m0 -p2 download 0x1C13 0 -tuint8 0 # Clear SM PDO 0x1c13<br>
sudo ethercat -m0 -p2 download 0x1A00 0 -tuint8 0 # Clear TxPDO 0x1A00<br>
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ethercat -m0 -p2 download 0x1A00 2 -tuint32 0x31010020<br>
SDO transfer aborted with code 0x08000000: General error</div>
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<b>dmesg</b></div>
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Failed to process SDO request.
<div> EtherCAT ERROR 0-2: SDO download 0x1A00:02 (4 bytes) aborted.</div>
<div> EtherCAT ERROR 0-2: SDO abort message 0x08000000: "General error".</div>
<div> EtherCAT ERROR 0-2: Failed to process SDO request.</div>
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Thanks,<br>
<br>
Joachim Sällvin<br>
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Joachim Sällvin<b><br>
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