[etherlab-users] Beckhoff 4102 ecrt_slave_config_dc

[Len Remmerswaal]

  Hi,
I seem to have a similar problem. This line:

      ecrt_slave_config_dc(sc, 0x0700, (uint32_t)interval, 400000, 
(uint32_t)interval, 100000);

(interval is 1000000 for 1 ms).
puts off my EL4102: it stops responding at all.
I know that some modules don't like zeroes for the last three values, so 
you may want to experiment there. But there is little documentation 
available. Anyone out there that has info about this?
A value of 0x0100 in the line above instead of 0x0700 keeps my EL4102 
happy, but I am not sure how to test that this gives me what I want.
Len.

> -----Original Message-----
> From: james.rowland at diamond.ac.uk [mailto:james.rowland at diamond.ac.uk]
> Sent: dinsdag 2 november 2010 18:52
> To: etherlab-users at etherlab.org
> Subject: [etherlab-users] Beckhoff 4102 ecrt_slave_config_dc
>
> Hello
>
> Using master 1.5 from hg:
>
> I can't configure the SYNC signals for this slave, the AssignActivate 
> value is 0x700 from the Beckhoff XML.
>
> ecrt_slave_config_dc(sc, 0x700, PERIOD_NS, 0, 0, 0);
>
> dmesg:
> EtherCAT ERROR 0-10: Failed to set OP state, slave refused state 
> change (SAFEOP + ERROR).
> EtherCAT ERROR 0-10: AL status message 0x0032: "PLL error".
>
> I can't find any documentation on how to configure these registers 
> from Beckhoff or the Ethercat standards, has anyone been able to use 
> the DC sync on these devices from Linux?
>
> James