[etherlab-users] Inavalid (SyncManager) Input Configuration

[Frank Werner]

Hi Wilfried,

many thanks for your help ... now it works for me ...

-Frank-

Am Do, 5.06.2008, 13:52, schrieb 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
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>>
>>
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