[etherlab-users] Problem with Beckhoff EL1502

[Hammer, Günter]

Hello,

I have some problems to handle a counter module which is a Beckhoff EL1502.
I use the Ecat-Master 1.4.0 rc3 and the mini-example.

My init-fct:
{
..

  if (!(sc_cntr_in = ecrt_master_slave_config( EcKAppMainInfo.master, 0, 1, 0x0000012AD, 0x05DE3052))) {
    printk(PFX "Failed to get slave configuration.\n");
    goto out_release_master;
  }

  printk(PFX "Configuring Pdos...\n");
  if ((sc_cntr_in, EC_END, cCI70A_syncs)) {
      printk(PFX "Failed to configure Pdos.\n");
      goto out_release_master;
  }

  printk(PFX "Creating Sdo requests...\n");
  if (!(sdo = ecrt_slave_config_create_sdo_request(sc_cntr_in, 0x6020, 17, 4))) {
      printk(PFX "Failed to create Sdo request.\n");
      goto out_release_master;
  }

  if ( ecrt_domain_reg_pdo_entry_list( pConDomain->pDomain, pConDomain->pEcMasterRegisterDomain ) )
  {
    printk( PFX "-> PDO registration failed!\n");
    goto out_release_master;
  }
..
}

In my cyclic task i call the read_sdo() function

void read_sdo(void)
{
  static unsigned long int u32CiOld = 0, u32CiNew = 0;

    switch (ecrt_sdo_request_state(sdo)) {
        case EC_SDO_REQUEST_UNUSED: // request was not used yet
            ecrt_sdo_request_read(sdo); // trigger first read
            break;
        case EC_SDO_REQUEST_BUSY:
            printk(PFX "Still busy...\n");
            break;
        case EC_SDO_REQUEST_SUCCESS:
            printk(PFX "Sdo value: 0x%04X\n", EC_READ_U16(ecrt_sdo_request_data(sdo)));
            ecrt_sdo_request_read(sdo); // trigger next read
            break;
        case EC_SDO_REQUEST_ERROR:
            printk(PFX "Failed to read Sdo!\n");
            ecrt_sdo_request_read(sdo); // retry reading
            break;
    }
}


static ec_pdo_entry_info_t cCI70A_pdo_entries[] = {
    {0x6020,  1,  1}, // output function enabled
    {0x6020,  2,  1}, // status of output
    {0x6020,  3,  1}, // set counter done
    {0x6020,  4,  1}, // counter inhibited
    {0x6020,  5,  1}, // status of input UD
    {0x6020,  6,  1}, // status of input clock
    {0x6020, 17, 32} // counter value
};

static ec_pdo_info_t cCI70A_pdos[] = {
    {0x1A02,  7, cCI70A_pdo_entries}
};

static ec_sync_info_t cCI70A_syncs[] = {
    {3, EC_DIR_INPUT, 1, cCI70A_pdos},
    {0xff}
};

Here is the output of the ethercat commandline tool:

# ethercat pdos -v
== Slave 0 ===
=== Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1080, DefaultSize  128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize    6, ControlRegister 0x24, Enable 1
  RxPdo 0x1602 ""
    Pdo entry 0x7020:01,  1 bit, ""
    Pdo entry 0x7020:02,  1 bit, ""
    Pdo entry 0x7020:03,  1 bit, ""
    Pdo entry 0x7020:04,  1 bit, ""
    Pdo entry 0x0000:00, 12 bit, "Gap"
    Pdo entry 0x7020:11, 32 bit, ""
SM3: PhysAddr 0x1180, DefaultSize    6, ControlRegister 0x20, Enable 1
  TxPdo 0x1a02 ""
    Pdo entry 0x6020:01,  1 bit, ""
    Pdo entry 0x6020:02,  1 bit, ""
    Pdo entry 0x6020:03,  1 bit, ""
    Pdo entry 0x6020:04,  1 bit, ""
    Pdo entry 0x6020:05,  1 bit, ""
    Pdo entry 0x6020:06,  1 bit, ""
    Pdo entry 0x0000:00,  7 bit, "Gap"
    Pdo entry 0x1c32:20,  1 bit, ""
    Pdo entry 0x0000:00,  1 bit, "Gap"
    Pdo entry 0x1802:09,  1 bit, ""
    Pdo entry 0x6020:11, 32 bit, ""

# ethercat sdos   
=== Slave 0 ===
=== Slave 1 ===




With this init and cyclic code i get the output:
...
<4>[  350.782193] EtherCAT WARNING: Slave 1 does not support changing the Pdo mapping!
<4>[  350.782300] EtherCAT WARNING: Failed to configure mapping of Pdo 0x1A02.
<3>[  350.790109] EtherCAT ERROR: Failed to set SAFEOP state, slave 1 refused state change (PREOP + ERROR).
<3>[  350.795344] EtherCAT ERROR: AL status message 0x001E: "Invalid input configuration".
<6>[  350.799103] EtherCAT: Acknowledged state PREOP on slave 1.
<4>[  802.162085] EcKApp: Sdo value: 0xFFFFFFFD
<4>[  802.222065] EcKApp: Sdo value: 0xFFFFFFF8
<4>[  802.234065] EcKApp: Sdo value: 0xFFFFFFF4
<4>[  802.486065] EcKApp: Sdo value: 0xFFFFFFF1

You can see some errors and warnings, but i get the counter values from the module.
I think this module doesnt support a pdo configuration.
But if i delete the ecrt_slave_config_pdos() call in my init-fct i dont get the errors and warnings,
but i also do not get the counter values.

Is there any additional initialization that i have to do, or what is wrong with my init ?

Best regards
Guenter Hammer