[etherlab-users] problem in using new BeckHoff encoder EL5101

[Jason Xu]

Hi Florian:

I've found EL5101 modules with the following serial numbers have this
problem:

Serial number: 27091510
Serial number: 20091510

Regards.

Jason Xu




2009/7/14 <etherlab-users-request at etherlab.org>

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> Today's Topics:
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>   1. Re: Problems with EL9820 (Andrea Fumarco - Syco)
>   2. Re: problem in using new BeckHoff encoder EL5101 (Florian Pose)
>
>
> ----------------------------------------------------------------------
>
> Message: 1
> Date: Mon, 13 Jul 2009 12:38:40 +0200
> From: "Andrea Fumarco - Syco" <fumarco at syco.it>
> Subject: Re: [etherlab-users] Problems with EL9820
> To: <etherlab-users at etherlab.org>
> Message-ID: <001901ca03a6$1636b920$7a02a8c0 at sycoaf>
> Content-Type: text/plain; charset="iso-8859-1"
>
> > Hi,
> >
> > On Fri, Jul 10, 2009 at 03:51:42PM +0200, Andrea Fumarco - Syco wrote:
> >>  I'm testing a Beckhoff EL9820 Evaluation Kit configured in PIC mode.
> >>  I'm not able to set the slave to OP state, when I send the command:
> >
> > probably you don't have specified a slave configuration, have you?.
> > You'll need an application using the master's application interface to
> > provide a slave configuration for your slave. Please consult the master
> > documentation first and have a look at the application examples.
> >
> > --
> > Best regards,
> > Florian Pose
> >
> > http://etherlab.org
> >
>
> Hi everyone,
> I've made an application which makes a configuration as you can see in
> attached file mini.c, but It doesn't work yet.
> I attached also sii_read, posd and sdos command output, I hope they could
> be
> useful to understand what's happening.
>
> Useing command line I can read sdo at index 0x6020 subindex 0x11:
>
> ethercat upload -t int16 0x6020 0x11
>
> with this result:
>
> 492 0x01ec
>
> But when I try to set to OP the state of my slave useing the command:
>
> ethercat states OP
>
> It responds with
>
> kernel: EtherCAT ERROR: Failed to set SAFEOP state, slave 0 refused state
> change (PREOP + ERROR).
> kernel: EtherCAT ERROR: AL status message 0x001E: "Invalid input
> configuration".
> kernel: EtherCAT: Acknowledged state PREOP on slave 0.
>
> and it goes to PREOP + ERROR state.
>
> Thanks.
> Andrea.
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> ------------------------------
>
> Message: 2
> Date: Mon, 13 Jul 2009 16:11:14 +0200
> From: Florian Pose <fp at igh-essen.com>
> Subject: Re: [etherlab-users] problem in using new BeckHoff encoder
>        EL5101
> To: etherlab-users at etherlab.org
> Message-ID: <20090713141114.GD26351 at yak.igh-essen.int>
> Content-Type: text/plain; charset=us-ascii
>
> On Mon, Jul 13, 2009 at 08:58:05AM +1200, Jason Xu wrote:
> > Below are the outputs I've got from the encoder slave.
> >
> > -bash-3.2# ethercat up -p1 -tuint8 0x1600 0
> > 2 0x02
> > -bash-3.2# ethercat up -p1 -tuint32 0x1600 1
> > 17301504 0x01080000
> > -bash-3.2# ethercat up -p1 -tuint32 0x1600 2
> > 34631680 0x02107000
>
> There are really wrong data in the CANopen over EtherCAT implementation
> of your device. The last 32-bit word should probably be 0x70000210,
> meaning PDO 0x7000:02, 16 bit. Please ask your supplier about this. You
> can put me on Cc. BTW, what is the serial number (printed on the side)
> of the devices?
>
> --
> Best regards,
> Florian Pose
>
> http://etherlab.org
>
>
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-- 
Jason Xu
Motion Design Ltd
New Zealand
Tel: +64 9 411 8230
Fax: +64 9 411 8237
Email: jason at motiondesign.co.nz
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