[etherlab-users] Problems with PDO-Entry 0x000:00

[Juri Gerke]

Hello,

I am using the Profibus-Master device EL6731,  which was configured with TwinCat .
This is how the pdos-entry list looks:


SM0: PhysAddr 0x1000, DefaultSize  384, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1180, DefaultSize  384, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1300, DefaultSize    0, ControlRegister 0x26, Enable 1
  RxPDO 0x1600 "DPS RxPDO-Map Slave 002"
    PDO entry 0x7000:02, 160 bit, ""
SM3: PhysAddr 0x1980, DefaultSize    0, ControlRegister 0x22, Enable 1
  TxPDO 0x1a00 "DPS TxPDO-Map Slave 002"
    PDO entry 0x6000:01, 160 bit, ""
  TxPDO 0x1a83 "TxPDO-Map DP Diag"
    PDO entry 0xf103:01,  1 bit, ""
    PDO entry 0x0000:00, 15 bit, "Gap"
  TxPDO 0x1a84 "TxPDO-Map DP Status"
    PDO entry 0xf102:01,  8 bit, "State Slave 002"
    PDO entry 0x0000:00,  8 bit, "Gap"
  TxPDO 0x1a85 "TxPDO-Map DP-Master Diag"
    PDO entry 0xf101:01, 16 bit, "Bus Error Counter"
    PDO entry 0xf101:02, 16 bit, "Cycle Counter"
    PDO entry 0xf101:03, 16 bit, "Slave Status Counter"
    PDO entry 0xf101:04, 16 bit, "Cycle Time"
    PDO entry 0xf101:05, 16 bit, "Repeat Counter"
    PDO entry 0x0000:00, 16 bit, "Gap"
    PDO entry 0x0000:00, 16 bit, "Gap"
    PDO entry 0x0000:00,  8 bit, "Gap"
    PDO entry 0x0000:00,  4 bit, "Gap"
    PDO entry 0xf101:14,  1 bit, "Device Diag"
    PDO entry 0xf101:15,  1 bit, "Sync Error"
    PDO entry 0xf101:16,  1 bit, "Cycle Toggle"
    PDO entry 0xf101:17,  1 bit, "Cycle State"

I used the 'cstruct' option  of CommandLine-Tool for the user-space application.
And the ./ethercat config  -v  -a6732  command shows the following output:


Alias: 6732
Position: 0
Vendor Id: 0x00000002
Product code: 0x1a4b3052
Attached slave: 1 (OP)
Watchdog divider: (Default)
Watchdog intervals: (Default)
SM2, Dir: Output, Watchdog: Disable
  PDO 0x1600
    PDO entry 0x7000:02, 160 bit
SM3, Dir: Input, Watchdog: Disable
  PDO 0x1a00
    PDO entry 0x6000:01, 160 bit
  PDO 0x1a83
    PDO entry 0xf103:01,  1 bit
    PDO entry 0x0000:00, 15 bit
  PDO 0x1a84
    PDO entry 0xf102:01,  8 bit
    PDO entry 0x0000:00,  8 bit
  PDO 0x1a85
    PDO entry 0xf101:01, 16 bit
    PDO entry 0xf101:02, 16 bit
    PDO entry 0xf101:03, 16 bit
    PDO entry 0xf101:04, 16 bit
    PDO entry 0xf101:05, 16 bit
    PDO entry 0x0000:00, 16 bit
    PDO entry 0x0000:00, 16 bit
    PDO entry 0x0000:00,  8 bit
    PDO entry 0x0000:00,  4 bit
    PDO entry 0xf101:14,  1 bit
    PDO entry 0xf101:15,  1 bit
    PDO entry 0xf101:16,  1 bit
    PDO entry 0xf101:17,  1 bit
SDO configuration:
  None.

Depending on which entry I add to the domain_regs[] array, the pdo regestration fails, I read wrong values or the values are correct.
Data from 0x6000 and 0x7000 are always correct, but the others like 0xf101:04 (cycle time) only can read valid data if some 0x000:00 entry/s are included or excluded from the domain_regs[] array.

Is the Profibus-Master device configured wrong or do I a mistake?


Kind regards

Juri Gerke


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