[etherlab-dev] PDO entry with Index 0x0000, missing PDO registration

Gavin Lambert gavinl at compacsort.com
Tue Mar 12 22:38:28 CET 2013

IIRC, a PDO 0000:00 means that it’s just padding, not data.  As such you
probably shouldn’t include it in your PDO mapping structure.  I think the
master code is smart enough to align it correctly anyway, but I must admit I
haven’t really experimented with that sort of layout.


From: etherlab-dev-bounces at etherlab.org
[mailto:etherlab-dev-bounces at etherlab.org] On Behalf Of Jürgen Kunz
Sent: Wednesday, 13 March 2013 06:34
To: etherlab-dev at etherlab.org
Subject: [etherlab-dev] PDO entry with Index 0x0000, missing PDO



I had the problem with a new slave-type that only the first of four slaves
worked (OP), all others were in SAFEOP +ERROR. In the debugging output of
the master (ethercat debug 1) I saw that only some of the PDOs of the first
slave hat been registered in the domain, the PDOs of the other slaves had
not been registered.
The cause is that one of the PDOs have an entry index of 0x0000 (see
pdos.txt), which causes the ecrt_domain_reg_pro_entry_list to quit, so all
other PDO entries after that are ignored.
With the attached patch (diff.txt) I get all slaves to work.

Jürgen Kunz

Dipl.-Inform. Jürgen Kunz

Technische Universität Darmstadt <http://www.tu-darmstadt.de> 
FG Simulation, Systemoptimierung und Robotik
Hochschulstr. 10
64289 Darmstadt

Tel.: ++49 (0) 6151-16-70383
Fax: ++49 (0) 6151-16-6648
E-Mail: kunz(at)sim.tu-darmstadt.de
Homepage: http://www.sim.tu-darmstadt.de

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