[etherlab-users] Beckhoff AX200

[Jens Kotlarski]

Hallo,

We are still trying to realize a communication block with our Beckhoff AX200
and Danaher S600, respectively (It seems to be a never ending story...).
Here comes a short summary:

Firstly, we recognized that there is something wrong concerning the
ControlByte of sync manager 3 (ControlByte = 0x22). It seems that
ec_slave2.c cannot handle such sync managers (???). We always got the error
sync manager 3 is neither an output nor an input. We fixed (???) it in the
ec_slave02.c file by manually setting sync manager 3 as an input (although
we are not sure if this is capable).

	==> We are able to compile!

Unfortunately, we still get an error concerning the sync manager's
configuration (see the following debug output):

[11465.263542] EtherCAT DEBUG: Pdo assignment for SM0 is already configured
correctly. 
[11465.263742] EtherCAT DEBUG: Pdo assignment for SM1 is already configured
correctly. 
[11465.263947] EtherCAT DEBUG: Mapping of Pdo 0x1702 is already configured
correctly. 
[11465.264175] EtherCAT DEBUG: Pdo assignment for SM2 is already configured
correctly. 
[11465.264378] EtherCAT DEBUG: Mapping of Pdo 0x1B03 is already configured
correctly. 
[11465.264577] EtherCAT DEBUG: Pdo assignment for SM3 is already configured
correctly.
[11465.264778] EtherCAT DEBUG: SM2: Addr 0x1100, Size   6, Ctrl 0x24, En 1
[11465.264962] EtherCAT DEBUG: SM3: Addr 0x1140, Size   8, Ctrl 0x22, En 1
[11465.267043] EtherCAT DEBUG: FMMU: LogAddr 0x00000000, Size   6, PhysAddr
0x1100, SM2, Dir out
[11465.267263] EtherCAT DEBUG: FMMU: LogAddr 0x00000006, Size   8, PhysAddr
0x1140, SM3, Dir in
[11465.270034] EtherCAT: Domain 0: Working counter changed to 1/1. 
[11465.272029] EtherCAT: Domain 1: Working counter changed to 1/1. 
[11465.275027] EtherCAT ERROR: Failed to set SAFEOP state, slave 1 refused
state change (PREOP + ERROR). 
[11465.277023] EtherCAT ERROR: AL status message 0x0017: "Invalid sync
manager configuration". 
[11465.281014] EtherCAT: Acknowledged state PREOP on slave 1. 
[11466.271157] EtherCAT: Domain 1: Working counter changed to 0/1.


We already tried a couple of things to fix it ==> without success... The
questions we have are:
- Is it a general problem concerning the master (unable to handle such sync
managers)?
- Is it a problem of our settings and slave configurations? Any fixing
ideas?
- Does somebody know the meaning of the ControlByte?



Thanks in advance!

Best regards,

Jens


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Dipl.-Ing. Jens Kotlarski

Leibniz Universität Hannover
Institut für Robotik (IfR)
Appelstr. 11a
Ger - 30167 Hannover

Tel. : +49 (0) 511 / 762 - 4116
Fax  : +49 (0) 511 / 762 - 19976
Email: kotlarski at ifr.uni-hannover.de
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