[etherlab-dev] Beckhoff AX5000 SoE drive: The PDI has no access rights to the ESC eeprom.

Nuno Gonçalves nunojpg at gmail.com
Mon Jul 13 13:57:11 CEST 2015

Thanks. In fact it solves this problem. There are no errors anymore.

But the drive can not reach Op state anyway.

Being at SafeOp when I request Op it just changes to PreOp and then
back to SafeOp.


On Mon, Jul 13, 2015 at 12:14 AM, Gavin Lambert <gavinl at compacsort.com> wrote:
> On 11 July 2015 12:38, quoth Nuno Gonçalves:
>> I'm running etherlab master default branch and it is making the Beckhoff
>> AX5000 SoE drive unhappy.
>> When changing state to PREOP the drive complains with the following error:
>> External Periphery - Control card: Reading the ESC-eeprom failed: The PDI
>> has no access rights to the ESC eeprom.
>> This happens before any IDN and DC configuration are due (transition to
>> Trusting the error message, what kind of ESC-eeprom reading are we
>> requesting on the transition to PREOP that can be causing this issue?
>> I can try to Wireshark this and TwinCAT initialization to compare both,
> and
>> see if I can spot the issue, but I don't think that will work very
> easily...
> It's not Etherlab trying to read the EEPROM, it's the slave itself trying
> to.  ("PDI" is the slave's interface to its own ESC.)
> By default, Etherlab reserves SII (EEPROM) access to ECAT only; the PDI can
> only access its EEPROM before it brings the ESC out of reset.
> Try passing "--enable-sii-assign" to configure; this tells Etherlab to grant
> the PDI access to its EEPROM at specific times, including during PREOP.
> At the moment the implementation of this is not standards-compliant, but it
> should hopefully be sufficient for most cases; so it should resolve your
> issue.

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