[etherlab-users] Emerson Control Techniques Drvive, No PDO exchange, WC=0

Henry Bausley hbausley at deltatau.com
Sat Oct 23 01:07:09 CEST 2010


Thanks to your log I was able to figure out the problem.  It seems that
I must always use  the OutputDomain before the InputDomain.
Once I changed the order of things they started to work.

I changed the cyclic task to

ecrt_domain_process(domainOutput);
ecrt_domain_process(domainInput);
.
.
ecrt_domain_queue(domainOutput);
ecrt_domain_queue(domainInput);

Previously I was using the domainInput before domainOutput.

I also changed the calling order of  registration of the PDO entry
list.  
ecrt_domain_reg_pdo_entry_list(domainOutput, domainOutput_regs)
ecrt_domain_reg_pdo_entry_list(domainInput, domainInput_regs)

Doing this also made the Yaskawa Sigma 5 start updating PDOs. (You must
have firmware 3.01 for the Yaskawa drive also however.

Should I always have been doing things in this order or is this a quirk
of the IC that Yaskawa  and Control Techniques are using?   

The Copley drive I tested seems not to have this restriction.



On Wed, 2010-10-20 at 08:31 -0700, Henry Bausley wrote:

> 
> 
> ecrt_domain_process and ecrt_domain_queue are called for both the
> input and output domain.  
> The code is below and the same code works with a different drive!  I
> am using the latest etherlab 
> driver and the ec_r8169.ko.
> 
> Does anyone have another suggestion after looking at the debug log
> 
> void cyclic_task(unsigned long data)
> {
>     unsigned short inputdata;
>     static unsigned short ctrlword = 0;
> 
>     // receive process data
>     down(&master_sem);
>     ecrt_master_receive(master);
> #ifdef ENABLE_INPUTS
>    ecrt_domain_process(domainInput);
> #endif
>    ecrt_domain_process(domainOutput);
>     up(&master_sem);
> 
> 
>     if (counter) {
>         counter--;
>     } else { // do this at 1 Hz
>         counter = FREQUENCY*10;///10;
> 
>         // calculate new process data
>         // blink ^= 0xFFFF;
>         blink *= 2;
> 
>         // check process data state (optional)
>         check_domainInput_state();
> 
> 
>         // check for master state (optional)
>         check_master_state();
> 
>         // check for islave configuration state(s) (optional)
>         check_slave_config_states();
>         if (blink > 0x8000)
>            blink = 1;
> 
>     }
> 
>     // write process data
>     EC_WRITE_U16(domainOutput_pd + ofs_ctrlword_coe, ctrlword);
> #ifdef ENABLE_INPUTS
>     inputdata = EC_READ_U16(domainInput_pd + ofs_statusword_coe);
>     if(counter == FREQUENCY*10)
>       printk(KERN_ALERT "inputdata = %08X\n",inputdata);
>     inputdata = EC_READ_U16(domainInput_pd + ofs_feedbackword_coe);
>     if(counter == FREQUENCY*10)
>       printk(KERN_ALERT "inputdata = %08X\n",inputdata);
> #endif
> 
> 
>     // send process data
>     down(&master_sem);
>     ecrt_domain_queue(domainInput);
>     ecrt_domain_queue(domainOutput);
>     ecrt_master_send(master);
>     up(&master_sem);
> 
>     // restart timer
>     timer.expires += HZ / FREQUENCY;
>     add_timer(&timer);
> 
>     if(ctrlword == 0)
>       ctrlword = 6;
>     else if(ctrlword == 6)
>       ctrlword = 7;
>     else if(ctrlword == 7)
>       ctrlword = 15;
> }
> 
> On Wed, 2010-10-20 at 10:33 +0200, Olaf Holowenko wrote: 
> 
> > Do you call 
> > 	ecrt_domain_process(...);
> > 	...
> > 	ecrt_domain_queue (...);
> > for BOTH domains CYCLIC in your RT-task?
> > 
> >  
> > See also
> > http://www.mail-archive.com/etherlab-users@etherlab.org/msg00496.html
> > 
> > 
> > 
> > 
> > -----Ursprüngliche Nachricht-----
> > Von: etherlab-users-bounces at etherlab.org
> > [mailto:etherlab-users-bounces at etherlab.org] Im Auftrag von Henry Bausley
> > Gesendet: Mittwoch, 20. Oktober 2010 00:47
> > An: etherlab-users at etherlab.org
> > Betreff: [etherlab-users] Emerson Control Techniques Drvive, No PDO
> > exchange,WC=0
> > 
> > 
> > 
> > I am trying to use an Emerson Control Techniques Digitax ST Servo Drive
> > via their SM-EtherCAT module but no PDO information is ever exchanged.
> > The Working Counter and Working State are always 0.  I verified all the
> > PDO mappings and Sync Manager configurations.  The Drive goes to OP mode
> > but no data is ever exchanged. I am using the basic mini.c example to
> > check the drive.  I have a Copley drive that works perfectly with the
> > same mini.c example (the only difference being the PDO indexes , the
> > vendor/product code are different)
> > 
> > I believe the SM-EtherCAT module uses the Hilscher chip.  The domain
> > working counter and working state are always 0.  
> > 
> > Does anyone have any suggestions?
> > 
> > Below are the debug messages. Everything seems to be setup correct.
> > ----------------------------------------------------------------------------
> > --------------
> > 
> > root at 10.34.9.212:/opt/ppmac/mini# insmod miniEmerson.ko
> > root at 10.34.9.212:/opt/ppmac/mini# dmesg
> > ec_mini: Starting...
> > EtherCAT: Requesting master 0...
> > EtherCAT DEBUG 0: IDLE -> OPERATION.
> > EtherCAT: Successfully requested master 0.
> > EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xafbd7000, send_cb =
> > 0xb91c404c, receive_cb = 0xb91c4000, cb_data = 0xafbd7000)
> > ec_mini: Registering domain...
> > EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xafbd7000)
> > EtherCAT DEBUG 0: Created domain 0.
> > EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xafbd7000)
> > EtherCAT DEBUG 0: Created domain 1.
> > EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbd7000, alias =
> > 0, position = 0, vendor_id = 0x000000f9, product_code = 0x00040203)
> > EtherCAT DEBUG 0: Creating slave configuration for 0:0,
> > 0x000000F9/0x00040203.
> > EtherCAT DEBUG 0 0:0: Attached slave 0.
> > ec_mini: Configuring PDOs...
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdos(sc = 0xaed9b800, n_syncs =
> > 4294967295, syncs = 0xb91c53e4)
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xaed9b800,
> > sync_index = 0, dir = 1, watchdog_mode = 2)
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xaed9b800,
> > sync_index = 1, dir = 2, watchdog_mode = 2)
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xaed9b800,
> > sync_index = 2, dir = 1, watchdog_mode = 2)
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc =
> > 0xaed9b800, sync_index = 2)
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xaed9b800,
> > sync_index = 2, pdo_index = 0x1605)
> > EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1605.
> > EtherCAT DEBUG 0 0:0: Entry 0x6040:00.
> > EtherCAT DEBUG 0 0:0: Entry 0x6042:00.
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc =
> > 0xaed9b800, pdo_index = 0x1605)
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xaed9b800,
> > pdo_index = 0x1605, entry_index = 0x6040, entry_subindex = 0x00,
> > entry_bit_length = 16)
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xaed9b800,
> > pdo_index = 0x1605, entry_index = 0x6042, entry_subindex = 0x00,
> > entry_bit_length = 16)
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xaed9b800,
> > sync_index = 3, dir = 2, watchdog_mode = 2)
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc =
> > 0xaed9b800, sync_index = 3)
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xaed9b800,
> > sync_index = 3, pdo_index = 0x1A05)
> > EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A05.
> > EtherCAT DEBUG 0 0:0: Entry 0x6041:00.
> > EtherCAT DEBUG 0 0:0: Entry 0x6044:00.
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc =
> > 0xaed9b800, pdo_index = 0x1A05)
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xaed9b800,
> > pdo_index = 0x1A05, entry_index = 0x6041, entry_subindex = 0x00,
> > entry_bit_length = 16)
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xaed9b800,
> > pdo_index = 0x1A05, entry_index = 0x6044, entry_subindex = 0x00,
> > entry_bit_length = 16)
> > ec_mini: Registering PDO entries...
> > EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaee11d00,
> > regs = 0xb91c4650)
> > EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbd7000, alias =
> > 0, position = 0, vendor_id = 0x000000f9, product_code = 0x00040203)
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaed9b800,
> > index = 0x6041, subindex = 0x00, domain = 0xaee11d00, bit_position =
> > 0x(null))
> > EtherCAT DEBUG 0: Domain 0: Added 4 bytes, total 4.
> > EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbd7000, alias =
> > 0, position = 0, vendor_id = 0x000000f9, product_code = 0x00040203)
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaed9b800,
> > index = 0x6044, subindex = 0x00, domain = 0xaee11d00, bit_position =
> > 0x(null))
> > EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaee11100,
> > regs = 0xb91c4698)
> > EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbd7000, alias =
> > 0, position = 0, vendor_id = 0x000000f9, product_code = 0x00040203)
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaed9b800,
> > index = 0x6040, subindex = 0x00, domain = 0xaee11100, bit_position =
> > 0x(null))
> > EtherCAT DEBUG 0: Domain 1: Added 4 bytes, total 4.
> > EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbd7000, alias =
> > 0, position = 0, vendor_id = 0x000000f9, product_code = 0x00040203)
> > EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaed9b800,
> > index = 0x6042, subindex = 0x00, domain = 0xaee11100, bit_position =
> > 0x(null))
> > ec_mini: Activating master...
> > EtherCAT DEBUG 0: ecrt_master_activate(master = 0xafbd7000)
> > EtherCAT 0: Domain0: Logical address 0x00000000, 4 byte, expected
> > working counter 1.
> > EtherCAT 0:   Datagram domain0-0: Logical offset 0x00000000, 4 byte,
> > type LRD.
> > EtherCAT 0: Domain1: Logical address 0x00000004, 4 byte, expected
> > working counter 1.
> > EtherCAT 0:   Datagram domain1-4: Logical offset 0x00000004, 4 byte,
> > type LWR.
> > EtherCAT DEBUG 0: Stopping master thread.
> > EtherCAT DEBUG 0: Master IDLE thread exiting...
> > EtherCAT 0: Master thread exited.
> > EtherCAT DEBUG 0: FSM datagram is afbd73e4.
> > EtherCAT 0: Starting EtherCAT-OP thread.
> > ec_mini: Starting cyclic sample thread.
> > ec_mini: Started.
> > EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 us,
> > max data size=11250
> > EtherCAT WARNING 0: 2 datagrams UNMATCHED!
> > ec_mini: 1 slave(s).
> > ec_mini: AL states: 0x02.
> > ec_mini: Link is up.
> > ec_mini: DigIn: State 0x02.
> > ec_mini: DigIn: online.
> > inputdata = 00000000
> > inputdata = 00000000
> > EtherCAT DEBUG 0: Configuration changed.
> > EtherCAT DEBUG 0: Writing system time offsets...
> > EtherCAT DEBUG 0: No app_time received up to now.
> > EtherCAT DEBUG 0: Requesting OP...
> > EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
> > EtherCAT DEBUG 0-0: Configuring...
> > EtherCAT DEBUG 0-0: Now in INIT.
> > EtherCAT DEBUG 0-0: Clearing FMMU configurations...
> > EtherCAT DEBUG 0-0: Clearing sync manager configurations...
> > EtherCAT DEBUG 0-0: Clearing DC assignment...
> > EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
> > EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
> > EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
> > EtherCAT DEBUG 0-0: Now in PREOP.
> > EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1605.
> > EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6040:00/16
> > 0x6042:00/16. Entries to map: 0x6040:00/16 0x6042:00/16
> > EtherCAT DEBUG 0-0: Setting entry count to zero.
> > EtherCAT DEBUG 0-0: Downloading SDO 0x1605:00.
> > EtherCAT DEBUG: 00 
> > EtherCAT DEBUG 0-0: Expedited download request:
> > EtherCAT DEBUG: 00 20 2F 05 16 00 00 00 00 00 
> > EtherCAT DEBUG 0-0: Download response:
> > EtherCAT DEBUG: 00 30 62 05 16 00 00 00 00 00 
> > EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1.
> > EtherCAT DEBUG 0-0: Downloading SDO 0x1605:01.
> > EtherCAT DEBUG: 10 00 40 60 
> > EtherCAT DEBUG 0-0: Expedited download request:
> > EtherCAT DEBUG: 00 20 23 05 16 01 10 00 40 60 
> > EtherCAT DEBUG 0-0: Download response:
> > EtherCAT DEBUG: 00 30 62 05 16 01 10 00 40 60 
> > EtherCAT DEBUG 0-0: Mapping PDO entry 0x6042:00 (16 bit) at position 2.
> > EtherCAT DEBUG 0-0: Downloading SDO 0x1605:02.
> > EtherCAT DEBUG: 10 00 42 60 
> > EtherCAT DEBUG 0-0: Expedited download request:
> > EtherCAT DEBUG: 00 20 23 05 16 02 10 00 42 60 
> > EtherCAT DEBUG 0-0: Download response:
> > EtherCAT DEBUG: 00 30 62 05 16 02 10 00 42 60 
> > EtherCAT DEBUG 0-0: Setting number of PDO entries to 2.
> > EtherCAT DEBUG 0-0: Downloading SDO 0x1605:00.
> > EtherCAT DEBUG: 02 
> > EtherCAT DEBUG 0-0: Expedited download request:
> > EtherCAT DEBUG: 00 20 2F 05 16 00 02 00 00 00 
> > EtherCAT DEBUG 0-0: Download response:
> > EtherCAT DEBUG: 00 30 62 05 16 00 02 00 00 00 
> > EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1605.
> > EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:
> > EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1605. PDOs to assign:
> > 0x1605
> > EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
> > EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
> > EtherCAT DEBUG: 00 
> > EtherCAT DEBUG 0-0: Expedited download request:
> > EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 
> > EtherCAT DEBUG 0-0: Download response:
> > EtherCAT DEBUG: 00 30 62 12 1C 00 00 00 00 00 
> > EtherCAT DEBUG 0-0: Assigning PDO 0x1605 at position 1.
> > EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.
> > EtherCAT DEBUG: 05 16 
> > EtherCAT DEBUG 0-0: Expedited download request:
> > EtherCAT DEBUG: 00 20 2B 12 1C 01 05 16 00 00 
> > EtherCAT DEBUG 0-0: Download response:
> > EtherCAT DEBUG: 00 30 62 12 1C 01 05 16 00 00 
> > EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
> > EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
> > EtherCAT DEBUG: 01 
> > EtherCAT DEBUG 0-0: Expedited download request:
> > EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 
> > EtherCAT DEBUG 0-0: Download response:
> > EtherCAT DEBUG: 00 30 62 12 1C 00 01 00 00 00 
> > EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2.
> > EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A05.
> > EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16
> > 0x6044:00/16. Entries to map: 0x6041:00/16 0x6044:00/16
> > EtherCAT DEBUG 0-0: Setting entry count to zero.
> > EtherCAT DEBUG 0-0: Downloading SDO 0x1A05:00.
> > EtherCAT DEBUG: 00 
> > EtherCAT DEBUG 0-0: Expedited download request:
> > EtherCAT DEBUG: 00 20 2F 05 1A 00 00 00 00 00 
> > EtherCAT DEBUG 0-0: Download response:
> > EtherCAT DEBUG: 00 30 62 05 1A 00 00 00 00 00 
> > EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1.
> > EtherCAT DEBUG 0-0: Downloading SDO 0x1A05:01.
> > EtherCAT DEBUG: 10 00 41 60 
> > EtherCAT DEBUG 0-0: Expedited download request:
> > EtherCAT DEBUG: 00 20 23 05 1A 01 10 00 41 60 
> > EtherCAT DEBUG 0-0: Download response:
> > EtherCAT DEBUG: 00 30 62 05 1A 01 10 00 41 60 
> > EtherCAT DEBUG 0-0: Mapping PDO entry 0x6044:00 (16 bit) at position 2.
> > EtherCAT DEBUG 0-0: Downloading SDO 0x1A05:02.
> > EtherCAT DEBUG: 10 00 44 60 
> > EtherCAT DEBUG 0-0: Expedited download request:
> > EtherCAT DEBUG: 00 20 23 05 1A 02 10 00 44 60 
> > EtherCAT DEBUG 0-0: Download response:
> > EtherCAT DEBUG: 00 30 62 05 1A 02 10 00 44 60 
> > EtherCAT DEBUG 0-0: Setting number of PDO entries to 2.
> > EtherCAT DEBUG 0-0: Downloading SDO 0x1A05:00.
> > EtherCAT DEBUG: 02 
> > EtherCAT DEBUG 0-0: Expedited download request:
> > EtherCAT DEBUG: 00 20 2F 05 1A 00 02 00 00 00 
> > EtherCAT DEBUG 0-0: Download response:
> > EtherCAT DEBUG: 00 30 62 05 1A 00 02 00 00 00 
> > EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A05.
> > EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:
> > EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A05. PDOs to assign:
> > 0x1A05
> > EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
> > EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
> > EtherCAT DEBUG: 00 
> > EtherCAT DEBUG 0-0: Expedited download request:
> > EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 
> > EtherCAT DEBUG 0-0: Download response:
> > EtherCAT DEBUG: 00 30 62 13 1C 00 00 00 00 00 
> > EtherCAT DEBUG 0-0: Assigning PDO 0x1A05 at position 1.
> > EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.
> > EtherCAT DEBUG: 05 1A 
> > EtherCAT DEBUG 0-0: Expedited download request:
> > EtherCAT DEBUG: 00 20 2B 13 1C 01 05 1A 00 00 
> > EtherCAT DEBUG 0-0: Download response:
> > EtherCAT DEBUG: 00 30 62 13 1C 01 05 1A 00 00 
> > EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
> > EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
> > EtherCAT DEBUG: 01 
> > EtherCAT DEBUG 0-0: Expedited download request:
> > EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 
> > EtherCAT DEBUG 0-0: Download response:
> > EtherCAT DEBUG: 00 30 62 13 1C 00 01 00 00 00 
> > EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3.
> > EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size   4, Ctrl 0x24, En 1
> > EtherCAT DEBUG 0-0: SM3: Addr 0x1280, Size   4, Ctrl 0x20, En 1
> > EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size   4, PhysAddr
> > 0x1280, SM3, Dir in
> > EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000004, Size   4, PhysAddr
> > 0x1100, SM2, Dir out
> > EtherCAT DEBUG 0-0: Now in SAFEOP.
> > EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
> > EtherCAT 0: Slave states: OP.
> > ec_mini: AL states: 0x08.
> > ec_mini: DigIn: State 0x08.
> > ec_mini: DigIn: operational.
> > inputdata = 00000000
> > inputdata = 00000000
> > inputdata = 00000000
> > inputdata = 00000000
> > 
> > 
> > root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t int8  upload
> > 0x1c12 0
> > 0x01 1
> > root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t int16 upload
> > 0x1c12 1
> > 0x1605 5637
> > root at 10.34.9.212:/opt/ppmac/mini# 
> > root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t int8  upload
> > 0x1c13 0
> > 0x01 1
> > root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t int16 upload
> > 0x1c13 1
> > 0x1a05 6661
> > root at 10.34.9.212:/opt/ppmac/mini# 
> > root at 10.34.9.212:/opt/ppmac/mini# 
> > root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t int8 upload 0x1605
> > 0
> > 0x02 2
> > root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t uint32 upload
> > 0x1605 1
> > 0x60400010 1614807056
> > root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t uint32 upload
> > 0x1605 2
> > 0x60420010 1614938128
> > root at 10.34.9.212:/opt/ppmac/mini# 
> > root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t int8 upload 0x1a05
> > 0
> > 0x02 2
> > root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t uint32 upload
> > 0x1a05 1
> > 0x60410010 1614872592
> > root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t uint32 upload
> > 0x1a05 2
> > `
> > 
> > 
> > 
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