[etherlab-users] Beckhoff AX200/Danaher S600

[Florian Pose]

Hello,

On Tue, Oct 28, 2008 at 03:52:50PM +0100, Jens Kotlarski wrote:
> > 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...

did you already assure that the correct control byte is also present in
the EEPROM? The master doesn't get to know the one from the XML, since
this is only evaluated in the s-Function code to determine the sync
manager direction. The master just configures the sync managers
according to the SII. You can test that by invoking 'ethercat pdos'. As
I said, this is most probably the reason for the slave rejecting to go
to SAFEOP.

> 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?"?

This is perfectly valid. Danaher pre-configured the Pdos for you. You
may select on of these by assigning it to a certain sync manager.

> 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');
>         ];

Please don't do so. The Pdo assignment is automatically handled by the
EtherCAT master. You won't have to overwrite it. The only thing you
could do is to check, if the correct Pdo assignment/mapping is
configured by invoking 'ethercat config -v'.

> 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?

Please try to correct the SM control byte first.

-- 
Best regards,
Florian

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