[etherlab-users] problem in using BeckHoff encoder EL5101 RevisionNo='0x03fb0000'

[Jason Xu]

Hi Florian:

I still has problem with using BechHoff encoder EL5101
(RevisionNo='0x03fb0000').

Have read the following thread,
http://lists.etherlab.org/pipermail/etherlab-users/2009/000566.html

however, my application is coded in c/c++ (no TwinCat, Matlab/Simulink
package), I don't know how to deal with this xml DWORD issue.

Also connect Input to 0 volts (3"), the red LED turns on, but the encoder
value read is still locked steady, no change even I turn the encoder shaft.

During my test,
(1) LED A, B are green and flashing, C is off, because C is not connected.
(2) LED latch = off,
(3) LED gate = off,
(4) LED Run = off. (this is very strange, when I type "ethercat slaves", the
encoder slave is in OP mode, maybe this indicate something)
(5) LED Power 5v = on.

Below are dmesg with debug set to level 1.

[   54.807827] EtherCAT: Starting EtherCAT-OP thread.
[   54.808013] ec_md_ethercat v1.01: Starting cyclic sample thread...
[   54.808128] ec_md_ethercat v1.01: RT timer started with 1193/1193 ticks.
[   54.808234] ec_md_ethercat v1.01: Initialized.
[   54.808384] EtherCAT DEBUG: Operation thread running.
[   54.809167] ec_md_ethercat v1.01: 2 slave(s).
[   54.809265] ec_md_ethercat v1.01: AL states: 0x02.
[   54.809361] ec_md_ethercat v1.01: Link is up.
[   54.821162] EtherCAT DEBUG: Changing state of slave 1 from PREOP to OP.
[   54.821169] EtherCAT DEBUG: Configuring slave 1...
[   54.825138] EtherCAT DEBUG: Slave 1 is now in INIT.
[   54.825142] EtherCAT DEBUG: Clearing FMMU configurations of slave 1...
[   54.827130] EtherCAT DEBUG: Configuring mailbox sync managers of slave 1.
[   54.827136] EtherCAT DEBUG: SM0: Addr 0x1800, Size  48, Ctrl 0x26, En 1
[   54.827141] EtherCAT DEBUG: SM1: Addr 0x1880, Size  48, Ctrl 0x22, En 1
[   54.833130] EtherCAT DEBUG: Slave 1 is now in PREOP.
[   54.833137] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[   54.833142] EtherCAT DEBUG: PDO assignment for SM1 is already configured
correctly.
[   54.833153] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[   54.833157] EtherCAT DEBUG: PDO assignment for SM2 is already configured
correctly.
[   54.833166] EtherCAT DEBUG: Mapping of PDO 0x1A00 is already configured
correctly.
[   54.833170] EtherCAT DEBUG: PDO assignment for SM3 is already configured
correctly.
[   54.833178] EtherCAT DEBUG: SM2: Addr 0x1000, Size   3, Ctrl 0x24, En 1
[   54.833183] EtherCAT DEBUG: SM3: Addr 0x1100, Size   5, Ctrl 0x20, En 1
[   54.835129] EtherCAT DEBUG: FMMU: LogAddr 0x00000000, Size   5, PhysAddr
0x1100, SM3, Dir in
[   54.840131] EtherCAT: Domain 0: Working counter changed to 1/1.
[   54.840235] ec_md_ethercat v1.01: Domain1: WC 1.
[   54.840330] ec_md_ethercat v1.01: Domain1: State 2.
[   54.841132] EtherCAT DEBUG: Slave 1 is now in SAFEOP.
[   54.845127] EtherCAT DEBUG: Slave 1 is now in OP.
[   54.845131] EtherCAT DEBUG: Finished configuration of slave 1.
[   54.849137] EtherCAT: Slave states: PREOP, OP.

I have run the same application with early EL5101 module
(RevisionNo=0x00010000), it works fine.

Any suggestion?

Thanks in advance.

Jason Xu
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