[etherlab-users] Problems with Beckhoff AX2000 (Danaher S600)

[Matthias Dagen]

Hi,

I want to use the Beckhoff AX2000 in combination with Etherlab (as
already mentioned), but I have some problems registering the PDOs. I
used the Ethercat Master v1.3.2 and the RC2 of v1.4. with v.1.3.2 the
Master always said, that the PDOs are not mapped and therefore
registering it failed. With the v1.4RC2 I can registrate the PDOs but I
get the error message "AL status message 0x0017: "Invalid sync manager
configuration" and I cannot recieve any data. I also tested the code
with Beckhoff terminals and it worked without any errors. The Master
seems to have a serious problem concerning the slave's SDO list.

The AX2000 supports CoE and I do not really know how to implement it.

In the following we posted some debug messages and the code snippets
taken from my "mini.c".

Regards,

Matthias


code snippet from the mini.c (ethercat 1.3.2)

#define IfRDevice 0x0000002, 0x07D06014, 0x6064, 0

const static ec_pdo_reg_t domain1_pdo_regs[] = {
    {"0", IfRDevice, &r_dig_out},
    {}
};

    if (ecrt_domain_register_pdo_list(domain1, domain1_pdo_regs)) {
        printk(KERN_ERR PFX "PDO registration failed!\n");
        goto out_release_master;
    }


Kernel-Messages etherCAT 1.3.2

[ 1805.390471] ec_mini: Starting...
[ 1805.390543] EtherCAT: Requesting master 0...
[ 1805.390616] EtherCAT: Successfully requested master 0.
[ 1805.390700] ec_mini: Registering domain...
[ 1805.390807] ec_mini: Registering PDOs...
[ 1805.390875] EtherCAT ERROR: PDO entry 0x6064:0 is not mapped in slave 0.
[ 1805.390983] ec_mini: PDO registration failed!
[ 1805.391057] ec_mini: Releasing master...
[ 1805.391124] EtherCAT: Releasing master 0...
[ 1805.391277] EtherCAT: Master thread exited.
[ 1805.391354] EtherCAT: Starting master thread.
[ 1805.391434] EtherCAT: Released master 0.
[ 1805.391501] ec_mini: Failed to load. Aborting.
[ 1805.456651] EtherCAT: Slave states: PREOP.
[ 1808.389904] EtherCAT ERROR: Invalid SDO list response at slave 0!
[ 1808.389911] EtherCAT DEBUG: 00 20 80 00 00 00 47 00 04 06 00 00 00 00
[ 1808.395398] EtherCAT ERROR: Invalid SDO list response at slave 1!
[ 1808.395403] EtherCAT DEBUG: 00 20 80 00 00 00 47 00 04 06 00 00 00 00
[ 1808.400225] EtherCAT ERROR: Invalid SDO list response at slave 2!
[ 1808.400229] EtherCAT DEBUG: 00 20 80 00 00 00 47 00 04 06 00 00 00 00




code snippet from the mini.c (ethercat 1.4)

#define IfRTest 0, 0
#define IfRDevice 0x00000002, 0x07D06014

const static ec_pdo_entry_reg_t domain1_regs[] = {
    {IfRTest, IfRDevice, 0x6064, 0, &r_dig_out},
  //  {IfRTest, IfRDevice, 0x6077, 0, &r_dig_out2},
    {IfRTest, IfRDevice, 0x6041, 0, &r_dig_out3},
    {}
};


    if (!(sc_ana_in = ecrt_master_slave_config(
                    master, IfRTest, IfRDevice))) {
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
        goto out_release_master;
    }

    printk(KERN_INFO PFX "Registering Pdo entries...\n");
    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
        printk(KERN_ERR PFX "Pdo entry registration failed!\n");
        goto out_release_master;
    }

Kernel-Messages etherCAT 1.4

[ 2999.916576] EtherCAT: Starting master thread.
[ 2999.918392] EtherCAT: 3 slave(s) responding.
[ 2999.918602] EtherCAT: Slave states: PREOP.
[ 2999.918775] EtherCAT: Scanning bus.
[ 3000.210503] EtherCAT ERROR: Sdo upload 0x1701:00 aborted on slave 0.
[ 3000.210766] EtherCAT ERROR: Sdo abort message 0x06020000: "This
object does not exist in the object directory".
[ 3000.211003] EtherCAT ERROR: Failed to read number of mapped Pdo entries.
[ 3000.211176] EtherCAT ERROR: Failed to read mapped Pdo entries for Pdo
0x1701.
[ 3000.403058] EtherCAT ERROR: Sdo upload 0x1701:00 aborted on slave 1.
[ 3000.403323] EtherCAT ERROR: Sdo abort message 0x06020000: "This
object does not exist in the object directory".
[ 3000.403558] EtherCAT ERROR: Failed to read number of mapped Pdo entries.
[ 3000.403731] EtherCAT ERROR: Failed to read mapped Pdo entries for Pdo
0x1701.
[ 3000.584456] EtherCAT ERROR: Sdo upload 0x1701:00 aborted on slave 2.
[ 3000.584654] EtherCAT ERROR: Sdo abort message 0x06020000: "This
object does not exist in the object directory".
[ 3000.584907] EtherCAT ERROR: Failed to read number of mapped Pdo entries.
[ 3000.585082] EtherCAT ERROR: Failed to read mapped Pdo entries for Pdo
0x1701.
[ 3000.585271] EtherCAT: Bus scanning completed in 668 ms.
[ 3006.577908] EtherCAT ERROR: Timeout while waiting for Sdo dictionary
list response on slave 0.
[ 3009.576270] EtherCAT ERROR: Timeout while waiting for Sdo dictionary
list response on slave 1.
[ 3012.574641] EtherCAT ERROR: Timeout while waiting for Sdo dictionary
list response on slave 2.
[ 3079.082985] ec_mini: Starting...
[ 3079.083059] EtherCAT: Requesting master 0...
[ 3079.083132] EtherCAT: Successfully requested master 0.
[ 3079.083216] ec_mini: Registering domain...
[ 3079.083292] ec_mini: Registering Pdo entries...
[ 3079.083368] ec_mini: Activating master...
[ 3079.083439] EtherCAT: Domain0: Logical address 0x00000000, 8 byte,
expected working counter 1.
[ 3079.083576] EtherCAT:   Datagram domain0-0: Logical offset
0x00000000, 8 byte, type LRD.
[ 3079.083719] EtherCAT: Master thread exited.
[ 3079.083790] EtherCAT: Starting master thread.
[ 3079.083879] ec_mini: Starting cyclic sample thread.
[ 3079.083960] ec_mini: Started.
[ 3079.093845] ec_mini: 3 slave(s).
[ 3079.093847] ec_mini: AL states: 0x02.
[ 3079.093849] ec_mini: Link is up.
[ 3079.093851] ec_mini: AnaIn: State 0x02.
[ 3079.093853] ec_mini: AnaIn: online.
[ 3079.383288] EtherCAT ERROR: Failed to set SAFEOP state, slave 0
refused state change (PREOP + ERROR).
[ 3079.403248] EtherCAT ERROR: AL status message 0x0017: "Invalid sync
manager configuration".
[ 3079.443174] EtherCAT: Acknowledged state PREOP on slave 0.