[etherlab-users] Problem with Beckhoff EL1502

[Florian Pose]

On Thu, Dec 18, 2008 at 03:32:58PM +0100, Hammer, Günter wrote:
> <7>[  117.261852] EtherCAT DEBUG: ecrt_master_activate(master = 0xc30b8800)
> <6>[  117.261903] EtherCAT: Domain0: Logical address 0x00000000, 6 byte, expected working counter 1.
> <6>[  117.262038] EtherCAT:   Datagram domain0-0: Logical offset 0x00000000, 6 byte, type LRD.
> <7>[  117.262074] EtherCAT DEBUG: Stopping master thread.
> <7>[  117.279191] EtherCAT DEBUG: Master IDLE thread exiting...
> <6>[  117.279369] EtherCAT: Master thread exited.
> <7>[  117.279436] EtherCAT DEBUG: FSM datagram is c30b8b54.
> <6>[  117.279466] EtherCAT: Starting EtherCAT-OP thread.
> <4>[  117.281414]  -> Master activated
> <4>[  117.281487] EcKApp: -> Parametrierung vollstaendig
> <4>[  117.282048] EcKApp: Master-State changed link_up = 1.
> <7>[  117.283126] EtherCAT DEBUG: Operation thread running.
> <7>[  117.283256] EtherCAT DEBUG: Changing state of slave 1 from PREOP to OP.
> <7>[  117.283287] EtherCAT DEBUG: Configuring slave 1...
> <7>[  117.287096] EtherCAT DEBUG: Slave 1 is now in INIT.
> <7>[  117.287187] EtherCAT DEBUG: Clearing FMMU configurations of slave 1...
> <7>[  117.289126] EtherCAT DEBUG: Configuring mailbox sync managers of slave 1.
> <7>[  117.289222] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
> <7>[  117.289254] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
> <7>[  117.295092] EtherCAT DEBUG: Slave 1 is now in PREOP.
> <7>[  117.295198] EtherCAT DEBUG: Pdo assignment for SM0 is already configured correctly.
> <7>[  117.295231] EtherCAT DEBUG: Pdo assignment for SM1 is already configured correctly.
> <7>[  117.295579] EtherCAT DEBUG: Mapping of Pdo 0x1602 is already configured correctly.
> <7>[  117.295664] EtherCAT DEBUG: Pdo assignment for SM2 is already configured correctly.
> <7>[  117.296207] EtherCAT DEBUG: Mapping of Pdo 0x1A02 is already configured correctly.
> <7>[  117.296313] EtherCAT DEBUG: Pdo assignment for SM3 is already configured correctly.
> <7>[  117.296381] EtherCAT DEBUG: SM2: Addr 0x1100, Size   6, Ctrl 0x24, En 1
> <7>[  117.296409] EtherCAT DEBUG: SM3: Addr 0x1180, Size   6, Ctrl 0x20, En 1
> <7>[  117.298118] EtherCAT DEBUG: FMMU: LogAddr 0x00000000, Size   6, PhysAddr 0x1180, SM3, Dir in
> <6>[  117.303051] EtherCAT: Domain 0: Working counter changed to 1/1.
> <7>[  117.304130] EtherCAT DEBUG: Slave 1 is now in SAFEOP.
> <7>[  117.308091] EtherCAT DEBUG: Slave 1 is now in OP.
> <7>[  117.308182] EtherCAT DEBUG: Finished configuration of slave 1.
> <6>[  117.311528] EtherCAT: Slave states: PREOP, OP.
> 
> # 
> # /flash-data/ethercat domain -v
> Domain0: LogBaseAddr 0x00000000, Size   6, WorkingCounter 1/1
>   SlaveConfig 0:1, SM3 ( Input), LogAddr 0x00000000, Size 6
>     0x00 0x00 0x00 0x00 0x00 0x00 

This all looks fine, since the slave even tells the master, that the
process data are exchanged by setting the working counter to 1...

The only difference to the TwinCAT screenshot I can see, is that a LRW
datagram is used. Please try registering one of the output Pdo entries too!

-- 
Best regards,
Florian Pose

http://etherlab.org