[etherlab-users] (no subject)

Frank Werner etherlab at wesoft.de
Tue Jun 3 15:21:11 CEST 2008

Hello all,

I use ethercat master 1.3.2 and like to communicate with a Beckhoff EL4002

I call (compressed for this mail):

static void *r_values[2];
ec_slave_t *slave =  = ecrt_master_get_slave_by_pos(master, 0, 0x00000002,
ecrt_domain_register_pdo(domain, slave, 0x00000002, 0x0FA23052, 0x7000, 1,
ecrt_domain_register_pdo(domain, slave, 0x00000002, 0x0FA23052, 0x7010, 1,

... and get the following response:

EtherCAT: Domain 0 - Allocated 4 bytes in 1 datagram.
EtherCAT ERROR: Failed to set SAVEOP state, slave 1 refused state change
EtherCAT ERROR: AL status message 0x001E: "Invalid input configuration".
EtherCAT: Acknowledged state PREOP on slave 1.
EtherCAT ERROR: Failed to configure slaves.

I do the same with some other Beckhoff terminals and it works without any

Anyone with any idea how to get this terminal working?


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