[etherlab-users] etherlab-users Digest, Vol 13, Issue 8

[Hobin Yoon]

Thank you for answering, Florian Pose,

Although you said the messages are good, it doesn't work as I
expected. Inside the timer function, the out PDO doesn't make the
slave work (blink LEDs) and in PDO values doesn't change over time.
The correct behavior is verified by TwinCAT. That makes me think there
might be some configuration that is automatically done in TwinCAT, but
has to be done explicitly in EtherCAT. Doesn't that?

EL9820 uses Beckhoff FB1111-0142 and our in-house board uses Beckhoff
FB1111-0140. According to the hardware data sheet
(http://www.beckhoff.de/download/Document/EtherCAT/Development_products/FB1111-014X_V13.pdf),
the former uses "32 bit In/Out digital interface" and the latter uses
"16/8 bit asynchronous Microcontroller Interface". Are there any
changes to be made to EtherLab because of the difference?

Best regards,
Hobin

> Date: Mon, 23 Jun 2008 15:09:40 +0200
> From: Florian Pose <fp at igh-essen.com>
>
> Hi,
>
> On Mon, Jun 23, 2008 at 04:51:11PM +0900, Hobin Yoon wrote:
>> I've succeeded in running mini on Beckhoff EL9820. But failed to run
>> our in-house test board. It has ESC FB1111-0140. I got the following
>> SDO dictionary error. When I run mini, it can't get any data in cyclic
>> operation. Can somebody help me figure out what it means and how to
>> solve it? Plz shed some light. Thank you.
>>
>> EtherCAT DEBUG: Fetching SDO dictionary from slave 0.
>> EtherCAT ERROR: Timeout while checking SDO dictionary on slave 0.
>
> this has nothing to do with your process data. It's just a message, that
> the Sdo dictionary couldn't be read out.
>
>> After mini is insmoded:
>>
>> [EC_TEST 661] ecrt_request_master(0)...
>> EtherCAT: Requesting master 0...
>> EtherCAT DEBUG: Waiting for pending slave configuration returned.
>> EtherCAT DEBUG: Waiting for pending slave scan returned.
>> EtherCAT DEBUG: Switching to operation mode.
>> EtherCAT: Successfully requested master 0.
>> [EC_TEST 669] Registering domain...
>> [EC_TEST 675] Configuring alternative PDO mapping...
>> [EC_TEST 697] Registering PDOs...
>> [EC_TEST 747] ecrt_master_activate()...
>> EtherCAT: Domain 0 - Allocated 8 bytes in 1 datagram.
>> EtherCAT DEBUG: Changing state of slave 0 (PREOP -> OP).
>> EtherCAT DEBUG: Configuring slave 0...
>> EtherCAT DEBUG: Slave 0 is now in INIT.
>> EtherCAT DEBUG: Clearing FMMU configurations of slave 0...
>> EtherCAT DEBUG: Configuring mailbox sync managers of slave 0.
>> EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
>> EtherCAT DEBUG: SM1: Addr 0x1400, Size 128, Ctrl 0x22, En 1
>> EtherCAT DEBUG: Slave 0 is now in PREOP.
>> EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
>> EtherCAT DEBUG: SM1: Addr 0x1400, Size 128, Ctrl 0x22, En 1
>> EtherCAT DEBUG: SM2: Addr 0x1800, Size   2, Ctrl 0x64, En 1
>> EtherCAT DEBUG: SM3: Addr 0x1C00, Size   6, Ctrl 0x20, En 1
>> EtherCAT DEBUG: FMMU0: LogAddr 0x00000000, Size   2, PhysAddr 0x1800, Dir out
>> EtherCAT DEBUG: FMMU1: LogAddr 0x00000002, Size   6, PhysAddr 0x1C00, Dir in
>> EtherCAT DEBUG: Slave 0 is now in SAVEOP.
>> EtherCAT DEBUG: Slave 0 is now in OP.
>> EtherCAT DEBUG: Finished configuration of slave 0.
>> EtherCAT DEBUG: Master IDLE thread exiting...
>> EtherCAT: Master thread exited.
>> EtherCAT DEBUG: FSM datagram is f23502b4.
>> EtherCAT: Starting master thread.
>> [EC_TEST 753] Starting cyclic sample thread.
>> [EC_TEST 760] Started.
>> EtherCAT: Domain 0 working counter change: 3
>> [EC_TEST 536] slaves_responding changed to 1.
>
> This looks good. Your slave seems to exchange inputs and outputs.
>
> --
> Best regards,
> Florian Pose
>
> http://etherlab.org
>
>
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> End of etherlab-users Digest, Vol 13, Issue 8
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>