[etherlab-users] Problem with Beckhoff EL1502

[Florian Pose]

Hi Günter,

The reason for the error message is that this...

On Fri, Dec 05, 2008 at 04:43:45PM +0100, Hammer, Günter wrote:
> 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
> };

...doesn't fit to this:

> 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, ""

> <4>[  350.782193] EtherCAT WARNING: Slave 1 does not support changing the Pdo mapping!

The slave doesn't support changing the Pdo entries mapped into a Pdo.
The solution is to configure the Pdo entries exactly as the appear in
the output of 'ethercat pdos'. Try inserting the missing entries
(including the gaps). The master will not attempt to change the Pdo
mapping if the current mapping does not differ from the target mapping.

-- 
Best regards,
Florian Pose

http://etherlab.org