[etherlab-users] Beckhoff EL4132 module

[Magnus Axelsson]

Hi everyone on the list,

we have been struggling with the EL4132 analog output from Beckhoff for
some time and I though I'd see if anyone here have experience to share.

First off, in this project we still use IGH EtherCAT Master version 1.3.2.

We have two modules both called EL4132 with no more revision information
on them. The first module that we've been using for a while works fine.
The second module (which we have been told by Beckhoff is internally
equipped with an ASIC instead of a FPGA) will not work for us.

The problem is that when registering the newer EL4132 module, the PDO
for the second channel is not assigned a process data pointer during
registration. Two short illustrative "pseudo" registration sequences:

Device            PDO               Process data pointer
...
EL5151           CntSetVal          0xcb73f429
EL4132           Output1            0xcb73f42d
EL4132           Output2            0xcb73f42f (!)
EL2008           Output             0xcb73f42f (!)
...

When writing to EL4132's Output2 or EL2008's Output, EL2008's digital
outputs are modified. Nothing happens with EL4132's second output.

Device            PDO               Process data pointer
...
EL5151           CntSetVal          0xcb73f429
EL4132           Output1            0xcb73f42d
EL4132           Output2            0x00000000
<no more devices, EL4132 was placed as last module in the bus>

I have made sure the problem lays with the EL4132 module, not the ring
position by swapping devices.

In both cases the following PDOs have been registered:
  RxPdo 0x1600 "Channel 1", default mapping: SM2.
    0x3001:1 "Output", 16 bit
  RxPdo 0x1601 "Channel 2", default mapping: SM2.
    0x3002:1 "Output", 16 bit

Trying to register PDOs 0x6411:1 and 0x6411:2 for the non-working module
does not work sine the master reports the PDOs do not exist.

The information on the two devices is posted below. One thing I've 
noticed is that the SM2 sync manager's size is different, I'd expect it to
be 4, but for the non-working module it is 2.

Best regards
Magnus Axelsson

=== Information on working EL4132 ===
Ring position: 12
State: PREOP (PREOP)
Flags: online, ok

Data link status:
  Port 0: Phy 0 (EBUS), Link down, 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: 0x10243052 (270807122)
  Revision number: 0x00000000 (0)
  Serial number: 0x00000000 (0)

Mailboxes:
  RX: 0x1800/246, TX: 0x18F6/246
  Supported protocols: CoE, FoE

Current consumption: 180 mA

General:
  Group: AnaOut
  Order number: EL4132
  Name: EL4132 2K. Ana. Ausgang +/-10V

Sync managers / PDO mapping:
  SM0: addr 0x1800, size 246, control 0x26, enable
    No PDOs mapped.
  SM1: addr 0x18F6, size 246, control 0x22, enable
    No PDOs mapped.
  SM2: addr 0x1000, size 4, control 0x24, enable
    PDO mapping information from CoE.
    RxPdo 0x1600 "RxPDO 001 mapping"
      0x3001:1 "Value", 16 bit
    RxPdo 0x1601 "RxPDO 002 mapping"
      0x3002:1 "Value", 16 bit
  SM3: addr 0x1100, size 0, control 0x20, enable
    No PDOs mapped.

Available PDOs from SII:
  RxPdo 0x1600 "Channel 1", default mapping: SM2.
    0x6411:1 "Output", 16 bit
  RxPdo 0x1601 "Channel 2", default mapping: SM2.
    0x6411:2 "Output", 16 bit


=== Information on non-working EL4132 ===
Ring position: 2
State: PREOP (PREOP)
Flags: online, ok

Data link status:
  Port 0: Phy 0 (EBUS), Link up, Loop open, Signal detected
  Port 1: Phy 3 (unknown), Link up, Loop open, Signal detected
  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: 0x10243052 (270807122)
  Revision number: 0x03F80000 (66584576)
  Serial number: 0x00000000 (0)

Mailboxes:
  RX: 0x1800/246, TX: 0x18F6/246
  Supported protocols: CoE, FoE

Current consumption: 190 mA

General:
  Group: AnaOut
  Order number: EL4132
  Name: EL4132 2Ch. Ana. Ausgang +/-10V, 16bit

Sync managers / PDO mapping:
  SM0: addr 0x1800, size 246, control 0x26, enable
    No PDOs mapped.
  SM1: addr 0x18F6, size 246, control 0x22, enable
    No PDOs mapped.
  SM2: addr 0x1000, size 2, control 0x24, enable
    PDO mapping information from CoE.
    RxPdo 0x1600 "RxPDO 01 mapping"
      0x3001:1 "Output", 16 bit
    RxPdo 0x1601 "RxPDO 02 mapping"
      0x3002:1 "Output", 16 bit
  SM3: addr 0x1100, size 0, control 0x20, disable
    No PDOs mapped.

Available PDOs from SII:
  RxPdo 0x1600 "Channel 1", default mapping: SM2.
    0x3001:1 "Output", 16 bit
  RxPdo 0x1601 "Channel 2", default mapping: SM2.
    0x3002:1 "Output", 16 bit