[etherlab-users] Problems with EL9820

[Florian Pose]

Hello Andrea,

On Mon, Jul 13, 2009 at 12:38:40PM +0200, Andrea Fumarco - Syco wrote:
> 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.

obviously your slave doesn't like the PDO configuration you applied.
You'll find the possible PDO assignments / mappings in the documentation
of your slave. The output you posted below, makes me guess, that the
mapping of the PDO 0x1a02 may only be the complete list of entries.
Please try to map them exactly in this way.

>  TxPDO 0x1a02 "AI TxPDO-Map"
>    PDO entry 0x6020:01,  1 bit, "Underrange"
>    PDO entry 0x6020:02,  1 bit, "Overrange"
>    PDO entry 0x6020:03,  2 bit, "Limit 1"
>    PDO entry 0x6020:05,  2 bit, "Limit 2"
>    PDO entry 0x0000:00,  8 bit, "Gap"
>    PDO entry 0x1802:07,  1 bit, ""
>    PDO entry 0x1802:09,  1 bit, ""
>    PDO entry 0x6020:11, 16 bit, "Analog input"

-- 
Best regards,
Florian Pose

http://etherlab.org