[etherlab-users] Beckhoff AX200/Danaher S600

[Jens Kotlarski]

Hallo and thanks for the lively discussion...

> the ec_slave2 s-Function complains about the SM3, because the XML sais
> it is used for mailbox communication (the right '2' in #x22 means
> reading access, mailbox). This is probably a mistake in the XML. If you
> set this to '#x20', it shall work. I can see from the master-generated
> XML, that the same information is in the slave's EEPROM. If you correct
> it in the XML and generate EEPROM contents (with f. e. TwinCAT), you can
> write the EEPROM with 'ethercat sii_write'.

That's what we tried right at the beginning. We just checked it again and it
is still not working...

> This will be a problem, too: The slave EEPROM tells the master, that the 
> slave doesn't have the capability to (re-)configure the Pdo mapping. This
> is most definitely not the case. If you will try to change the mapped Pdo
> entries, the master will refuse it.

> This can also be changed by writing correct SII (EEPROM) contents to the 
> slave. This is the job of the slave vendor. Please tell him about this!

It might be a problem. We will give Danaher a call...
What about Andreas' comment: "PDOs are indeed not reconfigurable. Will this
be a problem for EtherCatMaster?"?


We took the SDO initialisation from the EtherCAT-Configurator and added it
to our block to set the desired PDO mapping following the Danaher EtherCAT
communication manual (that is probably what Andreas meant):

    SdoConfig = [...
            hex2dec('1C12'), hex2dec('00'), 8, hex2dec('00000000');
            hex2dec('1C13'), hex2dec('00'), 8, hex2dec('00000000');
            hex2dec('1C12'), hex2dec('01'),16, hex2dec('00001702');
            hex2dec('1C12'), hex2dec('00'), 8, hex2dec('00000001');
            hex2dec('1C13'), hex2dec('01'),16, hex2dec('00001B01');
            hex2dec('1C13'), hex2dec('00'), 8, hex2dec('00000001');
        ];


What about using "WireShark"? You think it makes any sense to check the
packages sent using the EtherCAT-Configurator and compare them to the ones
sent using the IGH-Master?


Best regards,

Jens