[etherlab-users] PDO mapping?

[Julian Stoev]

On Thu, May 28, 2009 at 7:54 PM, Florian Pose <fp at igh-essen.com> wrote:
> On Thu, May 28, 2009 at 02:52:26PM +0200, Julian Stoev wrote:
>
>> Successfully registered application "t1" with RT-AppCore.
>> EtherCAT WARNING: 1 datagram UNMATCHED!
>> EtherCAT WARNING: Slave 1 does not support changing the PDO mapping!
>> EtherCAT WARNING: Failed to configure mapping of PDO 0x1600.
>> EtherCAT WARNING: Slave 1 does not support changing the PDO mapping!
>> EtherCAT WARNING: Failed to configure mapping of PDO 0x1601.
>> EtherCAT: Domain 0: Working counter changed to 1/1.
>> EtherCAT: Slave states: PREOP, OP.
>>
>> Note the warning. Also I try to set a sampling rate 100[Hz]. I wonder
>> what may be the sampling rate of my application in reality.
>
> You can watch the period via the variable /your-model/Taskinfo/0/Period.

Thanks!

But this PDO warnings... depending on the simulink diagram, sometimes
they are not present, sometimes they are present. What may be the
reason for them?

On the positive side, I can now output constant voltages to the I/O as
I want and they are confirmed by the multimeter correctly.

Another issue: during the compilation of the kernel module on the
target machine I get these:

WARNING: "ecrt_master_receive"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "rt_sem_wait" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_master_create_domain"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_version_magic"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_master_send" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko]
undefined!
WARNING: "start_rt_app" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_domain_queue"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_slave_config_sdo16"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_slave_config_sdo32"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "rt_sem_init" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_slave_config_reg_pdo_entry"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_domain_process"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_domain_state"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_master_callbacks"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_master_state"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "rt_sem_signal" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_master_slave_config"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_slave_config_pdos"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_domain_external_memory"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "rt_var_exit" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_domain_size" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko]
undefined!
WARNING: "stop_rt_app" [/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_master_activate"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_release_master"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_request_master"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!
WARNING: "ecrt_slave_config_sdo8"
[/home/jsto/Desktop/t1_etl_rtw/t1_kmod.ko] undefined!

Is this normal?
We will have to program quite a complex robotics application and I
must be sure I understand everything well.


-- 
Julian Stoev, PhD.
Control Researcher