[etherlab-users] Problem with Beckhoff EL1502

[Florian Pose]

On Fri, Dec 19, 2008 at 04:15:37PM +0100, Hammer, Günter wrote:
> I made the following changes:
> 
> - I removed the sdo requests, and try to get the counter values only
> via pdo
> - I added outputs to the pdo-entries
> 
> As you can see in the following log, the slave puts a counter-value in
> the Ecat frame, but it is allways the counter value from the start.
> The value never changes until i restart the master.  Then i get once a
> new value where i can see, that the slave has counted my inputs before
> i made the restart.
> 
> 
> <7>[  143.980385] EtherCAT DEBUG: sending frame:
> <7>[  143.980401] EtherCAT DEBUG: c30b301e:
> <4>[  143.980415] 20 10 0A CC 00 00 00 00 06 80 00 00 00 00 00 00    <---- i set the counter value to 0 in the sending frame
> <7>[  143.980472] EtherCAT DEBUG: 00 00 00 00 07 CD 00 00 30 01 02 00 00 00 00 00 
> <7>[  143.980533] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
> <7>[  143.981037] EtherCAT DEBUG: Received frame:
> <7>[  143.981083] EtherCAT DEBUG: c3373420:
> <4>[  143.981099] 20 10 0A CC 00 00 00 00 06 80 00 00 00 80 6A FF        <----- the slave puts a value into the frame
> <7>[  143.981156] EtherCAT DEBUG: FF FF 01 00 07 CD 02 00 30 01 02 00 00 00 0A 00 
> <7>[  143.981219] EtherCAT DEBUG: 02 00 00 00 00 00 00 00 00 00 00 00 00 00 
> <7>[  143.981300] EtherCAT DEBUG: ec_master_send_datagrams
> <7>[  143.981321] EtherCAT DEBUG: adding datagram 0xCE
> <7>[  143.981341] EtherCAT DEBUG: frame size: 46
> <7>[  143.981359] EtherCAT DEBUG: sending frame:
> <7>[  143.981376] EtherCAT DEBUG: c302d81e:
> <4>[  143.981390] 12 10 0A CE 00 00 00 00 06 00 00 00 00 00 00 00 
> <7>[  143.981447] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
> <7>[  143.981508] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
> <7>[  143.982043] EtherCAT DEBUG: Received frame:
> <7>[  143.982091] EtherCAT DEBUG: c3373420:
> <4>[  143.982106] 12 10 0A CE 00 00 00 00 06 00 00 00 00 80 6A FF         <----- the slave puts a value into the frame
> <7>[  143.982163] EtherCAT DEBUG: FF FF 01 00 00 00 00 00 00 00 00 00 00 00 00 00 
> <7>[  143.982224] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
> 
> I attached the startup log-file.  Although i added outputs to the
> pdo-entries, the communication still goes via LRD intstead of LRW
> commands (log file Line 354)

I meant registering the output PDO values (with
ecrt_domain_register_pdo_list() or
ecrt_slave_config_register_pdo_entry()), you did just tell the slave,
that they exist. With that change, the exchange should take place with
LRW.

> In line 379 i can read once a counter value change.  If i could read
> any further change i can see it in the log file, but there are none.
> The only thing that looks strange for me in the log file is in line
> 17: EtherCAT WARNING: Unknown category type 0x003C in slave 1.

No, this most probably does /not/ have something to do with the problem.

> I think the communication between master and slave works, but there is
> any trigger missing to make the slave put the actual counter value
> into the ecat frames.

Could it be, that the slave waits for a DC sync event? Is it configured
to use DC?

> What do I wrong in my postings, because every posting starts with a
> new thread in the archieve and is not attached to the older ones ?

Most mail clients have a "reply-to-list" function that uses the "List-*"
headers of the list mails.

-- 
Best regards,
Florian Pose

http://etherlab.org