[etherlab-users] problem in using new BeckHoff encoder EL5101 RevisionNo='0x03fb0000'
Jason Xu
jason at motiondesign.co.nz
Fri Jul 10 05:02:33 CEST 2009
Hi Florian:
Yes. As explained in the thread, the slave synchronizes its outputs to
> its inputs (from the process data point of view). So you have to
> send the inputs, too. Please register an input PDO entry (for example
> the control word), and you're done.
>
I followed your instructions, and it works.
However, today, I received a few more BeckHoff EL5101 modules. The "product
code" and "Revision No" are the same as the previous one, but the Pdos are
different by default.
I changed declaration values in my application to suit these new data. I
can't even get these new modules to switch into "OP" mode. I try a few
different ways to declare PDOs, no luck. So now, I wonder if you can give me
some advice on this new type EL5101.
I use the master which is produced from ethercat-1.4.0-rc3.
Below are the xml output from one of the new modules.
-bash-3.2# ethercat xml -p 1
<?xml version="1.0" ?>
<EtherCATInfo>
<!-- Slave 1 -->
<Vendor>
<Id>2</Id>
</Vendor>
<Descriptions>
<Devices>
<Device>
<Type ProductCode="#x13ed3052"
RevisionNo="#x03fb0000">EL5101</Type>
<Name><![CDATA[EL5101 1K. Inc. Encoder 5V]]></Name>
<Sm Enable="1" StartAddress="6144" ControlByte="38"
DefaultSize="48" />
<Sm Enable="1" StartAddress="6272" ControlByte="34"
DefaultSize="48" />
<Sm Enable="1" StartAddress="4096" ControlByte="36"
DefaultSize="3" />
<Sm Enable="1" StartAddress="4352" ControlByte="32"
DefaultSize="5" />
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1600</Index>
<Name>RxPDO-Map Outputs</Name>
<Entry>
<Index>#x0108</Index>
<SubIndex>0</SubIndex>
<BitLen>0</BitLen>
<Name></Name>
<DataType>UINT0</DataType>
</Entry>
<Entry>
<Index>#x0210</Index>
<SubIndex>112</SubIndex>
<BitLen>0</BitLen>
<Name></Name>
<DataType>UINT0</DataType>
</Entry>
</RxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a00</Index>
<Name>TxPDO-Map Inputs</Name>
<Entry>
<Index>#x0108</Index>
<SubIndex>0</SubIndex>
<BitLen>0</BitLen>
<Name></Name>
<DataType>UINT0</DataType>
</Entry>
<Entry>
<Index>#x0210</Index>
<SubIndex>96</SubIndex>
<BitLen>0</BitLen>
<Name></Name>
<DataType>UINT0</DataType>
</Entry>
<Entry>
<Index>#x0310</Index>
<SubIndex>96</SubIndex>
<BitLen>0</BitLen>
<Name></Name>
<DataType>UINT0</DataType>
</Entry>
</TxPdo>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>
-bash-3.2#
Below are the dmesg output:
[ 49.056504] ec_md_ethercat v1.02e: Starting...
[ 49.056596] EtherCAT: Requesting master 0...
[ 49.056688] EtherCAT DEBUG: IDLE -> OPERATION.
[ 49.056693] EtherCAT: Successfully requested master 0.
[ 49.056791] EtherCAT DEBUG: ecrt_master_callbacks(master = 0xdd9d8800,
request_cb = 0xe007635f, release_cb = 0xe007634e, cb_data = 0x0)
[ 49.056797] ec_md_ethercat v1.02e: Registering domain...
[ 49.056892] EtherCAT DEBUG: ecrt_master_create_domain(master =
0xdd9d8800)
[ 49.056896] EtherCAT DEBUG: Created domain 0.
[ 49.056900] ec_md_ethercat v1.02e: Registering Pdo entries...
[ 49.056996] EtherCAT DEBUG: ecrt_domain_reg_pdo_entry_list(domain =
0xdc99a0c0, regs = 0xe0078968)
[ 49.057003] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdd9d8800,
alias = 1, position = 0, vendor_id = 0x2, product_code = 0x13ed3052)
[ 49.057010] EtherCAT DEBUG: Creating slave configuration for 1:0,
0x00000002/0x13ED3052.
[ 49.057017] EtherCAT DEBUG: Attached slave 1 to config 1:0.
[ 49.057029] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdda4c400, index = 0x0108, subindex = 0x00, domain = 0xdc99a0c0,
bit_position = 0x0)
[ 49.057037] EtherCAT DEBUG: Domain 0: Added 0 bytes, total 0.
[ 49.057040] ec_md_ethercat v1.02e: Activating master...
[ 49.057138] EtherCAT DEBUG: ecrt_master_activate(master = 0xdd9d8800)
[ 49.057143] EtherCAT: Domain0: Logical address 0x00000000, 0 byte,
expected working counter 0.
[ 49.057262] EtherCAT DEBUG: Stopping master thread.
[ 49.057278] EtherCAT DEBUG: Master IDLE thread exiting...
[ 49.057306] EtherCAT: Master thread exited.
[ 49.057400] EtherCAT DEBUG: FSM datagram is dd9d8ac4.
[ 49.057404] EtherCAT: Starting EtherCAT-OP thread.
[ 49.057592] ec_md_ethercat v1.02e: Starting cyclic sample thread...
[ 49.057706] ec_md_ethercat v1.02e: RT timer started with 1193/1193 ticks.
[ 49.057812] ec_md_ethercat v1.02e: Initialized.
[ 49.057965] EtherCAT DEBUG: Operation thread running.
[ 49.058745] ec_md_ethercat v1.02e: 2 slave(s).
[ 49.058850] ec_md_ethercat v1.02e: AL states: 0x02.
[ 49.058943] ec_md_ethercat v1.02e: Link is up.
[ 49.059038]
[ 49.059039] LXRT CHANGED MODE (TRAP), PID = 1171, VEC = 14, SIGNO = 11.
[ 49.059275] BUG: unable to handle kernel NULL pointer dereference at
virtual address 00000000
[ 49.059461] printing eip: e0076740 *pde = 00000000
[ 49.059679] Oops: 0000 [#1]
[ 49.059834] Modules linked in: ec_md_ethercat(F) rtai_sem rtai_shm
rtai_fifos rtai_usi rtai_lxrt rtai_hal rtai_smi ec_8139too ec_master
[ 49.060643]
[ 49.060726] Pid: 1171, comm: U:HARD:0:11 Tainted: GF (2.6.24.4 #2)
[ 49.060829] EIP: 0060:[<e0076740>] EFLAGS: 00010246 CPU: 0
[ 49.060934] EIP is at run+0x131/0x215 [ec_md_ethercat]
[ 49.061028] EAX: 00000000 EBX: 00000000 ECX: 00000001 EDX: 003d09ad
[ 49.061125] ESI: 00000000 EDI: e0078968 EBP: 00000000 ESP: dca33fb4
[ 49.061224] DS: 007b ES: 007b FS: 0000 GS: 0033 SS: 0068
[ 49.061321] Process U:HARD:0:11 (pid: 1171, ti=dca32000 task=dca55020
task.ti=dca32000)<0>
[ 49.061424] I-pipe domain Linux
[ 49.061575] Stack: e0078600 e0078180 00000000 00000000 e007fd87 e0092a00
e0086501 00000000
[ 49.062252] 0000000b 00001f80 e007fc74 00000000 c0104087 00000000
00000000 00000000
[ 49.062927] 00000000 04808100 0000c000
[ 49.063266] Call Trace:
[ 49.063432] [<e007fd87>] kthread_fun+0x113/0x181 [rtai_lxrt]
[ 49.063643] [<e007fc74>] kthread_fun+0x0/0x181 [rtai_lxrt]
[ 49.063827] [<c0104087>] kernel_thread_helper+0x7/0x10
[ 49.063989] =======================
[ 49.064079] Code: 8b 04 9d 48 86 07 e0 0f b7 54 06 04 a1 10 81 07 e0 89
94 88 a4 00 00 00 eb 7e 3d 52 30 ed 13 75 19 8b 04 9d 48 86 07 e0 0f b7 0f
<0f> b7 14 06 a1 0c 81 07 e0 89 54 88 04 eb 5e 3d 52 30 c0 0f 75
[ 49.068204] EIP: [<e0076740>] run+0x131/0x215 [ec_md_ethercat] SS:ESP
0068:dca33fb4
[ 49.068479] ---[ end trace 5fd177be24834f31 ]---
[ 58.191414] EtherCAT DEBUG: File opened.
[ 58.191540] EtherCAT DEBUG: ioctl(filp = 0xddab0100, cmd = 0x8030a400
(0x0), arg = 0xbfac2d88)
[ 58.191670] EtherCAT DEBUG: ioctl(filp = 0xddab0100, cmd = 0xc130a401
(0x1), arg = 0xbfac2db8)
[ 58.191800] EtherCAT DEBUG: ioctl(filp = 0xddab0100, cmd = 0xc130a401
(0x1), arg = 0xbfac2db8)
[ 58.191942] EtherCAT DEBUG: ioctl(filp = 0xddab0100, cmd = 0x8030a400
(0x0), arg = 0xbfac2d3c)
[ 58.192066] EtherCAT DEBUG: ioctl(filp = 0xddab0100, cmd = 0xc130a401
(0x1), arg = 0xbfac2db8)
[ 58.192249] EtherCAT DEBUG: ioctl(filp = 0xddab0100, cmd = 0xc130a401
(0x1), arg = 0xbfac2db8)
[ 58.192943] EtherCAT DEBUG: File closed.
-bash-3.2#
Thanks in advance.
Jason Xu
from New Zealand
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