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<body dir="ltr"><div>Dear Joachim,</div><div><br></div><div>The master configures the specific slaves during application startup. </div><div>So no need to do it manually.</div><div><br></div><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></div><div>Best regards</div><div><br></div><div>Andreas</div><div><br></div><div>Am Sonntag, dem 25.09.2022 um 17:08 +0000 schrieb Joachim Sällvin:</div><blockquote type="cite" style="margin:0 0 0 .8ex; border-left:2px #729fcf solid;padding-left:1ex"><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof">Hi all,</div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><br></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof">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></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof">When I try I get: <br></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><br><div style="font-size:12pt" class="elementToProof">SDO transfer aborted with code 0x08000000: General error (see details below), why?<br></div></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><br></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><b><br></b></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><b>Some information about the system<br></b></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><b>ethercat slaves</b></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><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></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><br></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><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></div><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></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><br></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><br></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><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></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><br></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><b>ethercat -m0 -p2 sdos</b></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof">.....</div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof">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></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"> 0x1a00:04, rwrwrw, uint32, 32 bit, "Acceleration"<b><br></b></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><b>......<br></b></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof">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><br></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><br></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><b>I thought I could do like this </b><br></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof">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></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof">ethercat -m0 -p2 download 0x1A00 2 -tuint32 0x31010020<br>SDO transfer aborted with code 0x08000000: General error</div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><br></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><b>dmesg</b></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"> 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><b><br></b></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><b><br></b></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof">Thanks,<br><br>Joachim Sällvin<br></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><br></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof">Joachim Sällvin<b><br></b></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><b><br></b></div><div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);" class="elementToProof"><br></div></blockquote><div><br></div><div><span></span></div></body></html>