[etherlab-users] Inavalid (SyncManager) Input Configuration

[Wilfried Moritz]

Hi,

I experienced similar problems with a EL3202 terminal, it reported AL status code 0x1D "Invalid Output Configuration".
Disabling the output syncManager (syncMgr 2), which is of size 0,  helped. (see my previous post to the etherlab-users mailing lsit)

EL3202 is an AnalogIn terminal, whereas EL4002 is an AnalogOut terminal. So disabling the input sync manager (SM3, size 0) might help with your EL4002 problems.

To disable the input syncMgr, add the following lines to fsm_slave.c:ec_fsm_slave_conf_enter_pdo_sync() (before the for loop):
	if ( slave->sii_product_code == <product_code_of_EL4002>) {
		EC_WARN("sync Mgr enable OVERRIDE\n");
		slave->sii_syncs[3].enable = 0;
	}

Wilfried


On Wed, Jun 04, 2008 at 09:56:42AM +0200, Frank Werner wrote:
> Hi Floria,
> 
> here is the debug:
> 
> ---
> EtherCAT: Domain 0 - Allocated 4 bytes in 1 datagram.
> EtherCAT DEBUG: Changing state of slave 1 (PREOP -> OP).
> EtherCAT DEBUG: Configuring slave 1...
> EtherCAT DEBUG: Slave 1 is now in INIT.
> EtherCAT DEBUG: Clearing FMMU configurations of slave 1...
> EtherCAT DEBUG: Configuring mailbox sync managers of slave 1.
> EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
> EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
> EtherCAT DEBUG: Slave 1 is now in PREOP.
> EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
> EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
> EtherCAT DEBUG: SM2: Addr 0x1100, Size   4, Ctrl 0x24, En 1
> EtherCAT DEBUG: SM3: Addr 0x1180, Size   0, Ctrl 0x20, En 1
> EtherCAT DEBUG: FMMU0: LogAddr 0x00000000, Size   4, PhysAddr 0x1100, Dir out
> EtherCAT ERROR: Failed to set SAVEOP state, slave 1 refused state change
> (PREOP + ERROR).
> EtherCAT ERROR: AL status message 0x001E: "Invalid input configuration".
> EtherCAT: Acknowledged state PREOP on slave 1.
> EtherCAT ERROR: Failed to configure slaves.
> ---
> 
> and here is the slave info file:
> 
> ---
> Ring position: 1
> State: PREOP (OP)
> Flags: online, ERROR
> 
> Data link status:
>   Port 0: Phy 0 (EBUS), Link up, Loop open, Signal detected
>   Port 1: Phy 3 (unknown), Link down, Loop closed, No signal
>   Port 2: Phy 0 (EBUS), Link down, Loop closed, No signal
>   Port 3: Phy 0 (EBUS), Link down, Loop closed, No signal
> 
> Identity:
>   Vendor ID: 0x00000002 (2)
>   Product code: 0x0FA23052 (262287442)
>   Revision number: 0x00100000 (1048576)
>   Serial number: 0x00000000 (0)
> 
> Mailboxes:
>   RX: 0x1000/128, TX: 0x1080/128
>   Supported protocols: CoE, FoE
> 
> Current consumption: 190 mA
> 
> General:
>   Group: AnaOut
>   Order number: EL4002
>   Name: EL4002 2K. Ana. Ausgang 0-10V, 12bit
> 
> Sync managers / PDO mapping:
>   SM0: addr 0x1000, size 128, control 0x26, enable
>     No PDOs mapped.
>   SM1: addr 0x1080, size 128, control 0x22, enable
>     No PDOs mapped.
>   SM2: addr 0x1100, size 4, control 0x24, enable
>     PDO mapping information from CoE.
>     RxPdo 0x1600 "RxPDO-Map OutputsCh.1"
>       0x7000:1 "Analog output", 16 bit
>     RxPdo 0x1601 "RxPDO-Map OutputsCh.2"
>       0x7010:1 "Analog output", 16 bit
>   SM3: addr 0x1180, size 0, control 0x20, enable
>     No PDOs mapped.
> 
> Available PDOs from SII:
>   RxPdo 0x1600 "AO Outputs Channel 1", default mapping: SM2.
>     0x7000:1 "Analog output", 16 bit
>   RxPdo 0x1601 "AO Outputs Channel 2", default mapping: SM2.
>     0x7010:1 "Analog output", 16 bit
> ---
> 
> Thanks,
> -Frank-
> 
> Am Mi, 4.06.2008, 09:25, schrieb Florian Pose:
> > Hi Frank,
> >
> > On Tue, Jun 03, 2008 at 03:21:11PM +0200, Frank Werner wrote:
> >> EtherCAT: Domain 0 - Allocated 4 bytes in 1 datagram.
> >> EtherCAT ERROR: Failed to set SAVEOP state, slave 1 refused state change
> >> (PREOP + ERROR).
> >> EtherCAT ERROR: AL status message 0x001E: "Invalid input configuration".
> >> EtherCAT: Acknowledged state PREOP on slave 1.
> >> EtherCAT ERROR: Failed to configure slaves.
> >
> > could you supply some logs with debug_level set to 1, especially the
> > lines about the sync manager configuration:
> >
> >   echo 1 > /sys/ethercat/master0/debug_level
> >
> > and the slave info file
> >
> >   cat /sys/ethercat/master0/slave001/info
> >
> >> I do the same with some other Beckhoff terminals and it works without
> >> any
> >> problems.
> >
> > It looks quite ok, indeed.
> >
> > --
> > Best regards,
> > Florian Pose
> >
> > http://etherlab.org
> > _______________________________________________
> > etherlab-users mailing list
> > etherlab-users at lists.etherlab.org
> > http://lists.etherlab.org/mailman/listinfo/etherlab-users
> 
> 
> _______________________________________________
> etherlab-users mailing list
> etherlab-users at lists.etherlab.org
> http://lists.etherlab.org/mailman/listinfo/etherlab-users