[etherlab-users] ABB CI512 Slave
Henry Bausley
hbausley at deltatau.com
Sat Jun 19 01:14:57 CEST 2010
I am trying to read the inputs on an ABB CI512 slave. The outputs seem
to work just fine however I get nothing from the inputs. I can read my
beckhoff inputs and copley amplifiers just fine. The structures I use
come from ethercat cstruct. Any ideas? Below is the devices xml info.
/* Slave 0, "ABB CI512"
* Vendor ID: 0x0000023a
* Product code: 0x78746562
* Revision number: 0x00010003
*/
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x2000, 0x01, 32},
{0x2000, 0x02, 8},
{0x2000, 0x03, 8},
{0x2000, 0x04, 16},
{0x2000, 0x05, 16},
{0x2000, 0x06, 16},
{0x2000, 0x07, 16},
{0x2001, 0x01, 32},
{0x2001, 0x02, 16},
{0x2001, 0x03, 8},
{0x2001, 0x04, 8},
{0x2001, 0x05, 16},
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1600, 7, slave_0_pdo_entries + 0}, /* Outputs */
{0x1a00, 5, slave_0_pdo_entries + 7}, /* Inputs */
};
ec_sync_info_t slave_0_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
};
root at 10.34.9.210:/opt/ppmac# ethercat pdos
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x36, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x32, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 26, ControlRegister 0x74, Enable 1
RxPDO 0x1600 "Outputs"
PDO entry 0x2000:01, 32 bit, ""
PDO entry 0x2000:02, 8 bit, ""
PDO entry 0x2000:03, 8 bit, ""
PDO entry 0x2000:04, 16 bit, ""
PDO entry 0x2000:05, 16 bit, ""
PDO entry 0x2000:06, 16 bit, ""
PDO entry 0x2000:07, 16 bit, ""
SM3: PhysAddr 0x12b0, DefaultSize 26, ControlRegister 0x30, Enable 1
TxPDO 0x1a00 "Inputs"
PDO entry 0x2001:01, 32 bit, ""
PDO entry 0x2001:02, 16 bit, ""
PDO entry 0x2001:03, 8 bit, ""
PDO entry 0x2001:04, 8 bit, ""
PDO entry 0x2001:05, 16 bit, ""
root at 10.34.9.210:/opt/ppmac# ethercat domains -v
Domain0: LogBaseAddr 0x00000000, Size 10, WorkingCounter 0/1
SlaveConfig 0:0, SM3 ( Input), LogAddr 0x00000000, Size 10
0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Domain1: LogBaseAddr 0x0000000a, Size 14, WorkingCounter 0/1
SlaveConfig 0:0, SM2 (Output), LogAddr 0x0000000a, Size 14
0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0xaa
0xaa
Domain2: LogBaseAddr 0x00000018, Size 0, WorkingCounter 0/0
State: OP
Flag: +
Identity:
Vendor Id: 0x0000023a
Product code: 0x78746562
Revision number: 0x00010003
Serial number: 0x00000000
DL information:
FMMU bit operation: yes
Distributed clocks: yes, 32 bit
DC system time transmission delay: 0 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns]
NextDc [ns]
0 MII up open yes - 2928509108 0
0
1 MII down closed no - - -
-
2 N/A down closed no - - -
-
3 N/A down closed no - - -
-
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1000/128, TX: 0x1080/128
Supported protocols: CoE
General:
Group: AC500
Image name:
Order number: ABB CI512
Device name: CI512-ETHCAT (8DC 8DI 8DO)
CoE details:
Enable SDO: yes
Enable SDO Info: yes
Enable PDO Assign: no
Enable PDO Configuration: no
Enable Upload at startup: no
Enable SDO complete access: no
Flags:
Enable SafeOp: no
Enable notLRW: yes
Current consumption: 0 mA
<?xml version="1.0" ?>
<EtherCATInfo>
<!-- Slave 0 -->
<Vendor>
<Id>570</Id>
</Vendor>
<Descriptions>
<Devices>
<Device>
<Type ProductCode="#x78746562" RevisionNo="#x00010003">ABB
CI512</Type>
<Name><![CDATA[CI512-ETHCAT (8DC 8DI 8DO)]]></Name>
<Sm Enable="1" StartAddress="4096" ControlByte="54"
DefaultSize="128" />
<Sm Enable="1" StartAddress="4224" ControlByte="50"
DefaultSize="128" />
<Sm Enable="1" StartAddress="4352" ControlByte="116"
DefaultSize="26" />
<Sm Enable="1" StartAddress="4784" ControlByte="48"
DefaultSize="26" />
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1600</Index>
<Name>Outputs</Name>
<Entry>
<Index>#x2000</Index>
<SubIndex>1</SubIndex>
<BitLen>32</BitLen>
<Name></Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x2000</Index>
<SubIndex>2</SubIndex>
<BitLen>8</BitLen>
<Name></Name>
<DataType>UINT8</DataType>
</Entry>
<Entry>
<Index>#x2000</Index>
<SubIndex>3</SubIndex>
<BitLen>8</BitLen>
<Name></Name>
<DataType>UINT8</DataType>
</Entry>
<Entry>
<Index>#x2000</Index>
<SubIndex>4</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2000</Index>
<SubIndex>5</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2000</Index>
<SubIndex>6</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2000</Index>
<SubIndex>7</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
</RxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a00</Index>
<Name>Inputs</Name>
<Entry>
<Index>#x2001</Index>
<SubIndex>1</SubIndex>
<BitLen>32</BitLen>
<Name></Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x2001</Index>
<SubIndex>2</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2001</Index>
<SubIndex>3</SubIndex>
<BitLen>8</BitLen>
<Name></Name>
<DataType>UINT8</DataType>
</Entry>
<Entry>
<Index>#x2001</Index>
<SubIndex>4</SubIndex>
<BitLen>8</BitLen>
<Name></Name>
<DataType>UINT8</DataType>
</Entry>
<Entry>
<Index>#x2001</Index>
<SubIndex>5</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
</TxPdo>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>
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