[etherlab-users] How to expose the PDO mappings?
Dr.-Ing. Wilhelm Hagemeister
hm at igh-essen.com
Tue Oct 26 22:28:51 CEST 2010
Hello Oliver,
you might have an old firmware in the BK1120, which tended to be buggy.
Please provide the serial number of the BK1120.
Or, if you can readout the firmware version with twincat, provide that.
This is how it looks on my system:
ethercat sii_read -p0 -v
SII Area:
08 00 02 00 00 00 00 00 00 00 00 00 00 00 b7 00
02 00 00 00 22 2c 60 04 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 10 14 02 00 18 14 02
00 1c 88 00 00 1e 88 00 0c 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00
SII Category 0x000a (STRINGS), 6 words
01 0a 42 4b 31 31 32 30 20 6d 69 6e
SII Category 0x001e (General), 16 words
00 00 00 01 01 23 01 00 00 00 01 00 00 00 03 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
SII Category 0x0029 (SyncM), 16 words
00 1c 88 00 26 00 01 01 00 1e 88 00 22 00 01 02
00 10 00 00 24 00 01 03 00 16 00 00 00 00 01 04
ethercat pdos -p0
SM0: PhysAddr 0x1c00, DefaultSize 136, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1e00, DefaultSize 136, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1000, DefaultSize 0, ControlRegister 0x24, Enable 1
RxPDO 0x16ff "Control PDO"
PDO entry 0xf200:01, 16 bit, "CouplerCtrl"
RxPDO 0x1601 "RxPDO Mapping Terminal 002"
PDO entry 0x7010:01, 8 bit, "Channel 1 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7010:03, 16 bit, "Channel 1 Data"
PDO entry 0x7010:04, 8 bit, "Channel 2 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7010:06, 16 bit, "Channel 2 Data"
PDO entry 0x7010:07, 8 bit, "Channel 3 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7010:09, 16 bit, "Channel 3 Data"
PDO entry 0x7010:0a, 8 bit, "Channel 4 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7010:0c, 16 bit, "Channel 4 Data"
RxPDO 0x1602 "RxPDO Mapping Terminal 003"
PDO entry 0x7020:01, 8 bit, "Channel 1 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7020:03, 16 bit, "Channel 1 Data"
PDO entry 0x7020:04, 8 bit, "Channel 2 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7020:06, 16 bit, "Channel 2 Data"
PDO entry 0x7020:07, 8 bit, "Channel 3 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7020:09, 16 bit, "Channel 3 Data"
PDO entry 0x7020:0a, 8 bit, "Channel 4 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7020:0c, 16 bit, "Channel 4 Data"
RxPDO 0x1603 "RxPDO Mapping Terminal 004"
PDO entry 0x7030:01, 8 bit, "Channel 1 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7030:03, 16 bit, "Channel 1 Data"
PDO entry 0x7030:04, 8 bit, "Channel 2 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7030:06, 16 bit, "Channel 2 Data"
PDO entry 0x7030:07, 8 bit, "Channel 3 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7030:09, 16 bit, "Channel 3 Data"
PDO entry 0x7030:0a, 8 bit, "Channel 4 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7030:0c, 16 bit, "Channel 4 Data"
RxPDO 0x1604 "RxPDO Mapping Terminal 005"
PDO entry 0x7040:01, 8 bit, "Channel 1 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7040:03, 16 bit, "Channel 1 Data"
PDO entry 0x7040:04, 8 bit, "Channel 2 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7040:06, 16 bit, "Channel 2 Data"
PDO entry 0x7040:07, 8 bit, "Channel 3 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7040:09, 16 bit, "Channel 3 Data"
PDO entry 0x7040:0a, 8 bit, "Channel 4 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7040:0c, 16 bit, "Channel 4 Data"
RxPDO 0x1605 "RxPDO Mapping Terminal 006"
PDO entry 0x7050:01, 8 bit, "Channel 1 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7050:03, 16 bit, "Channel 1 Data"
PDO entry 0x7050:04, 8 bit, "Channel 2 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7050:06, 16 bit, "Channel 2 Data"
RxPDO 0x1606 "RxPDO Mapping Terminal 007"
PDO entry 0x7060:01, 8 bit, "Channel 1 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7060:03, 16 bit, "Channel 1 Data"
PDO entry 0x7060:04, 8 bit, "Channel 2 Ctrl"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x7060:06, 16 bit, "Channel 2 Data"
RxPDO 0x1607 "RxPDO Mapping Terminal 008"
PDO entry 0x7070:01, 1 bit, "Channel 1 "
PDO entry 0x7070:02, 1 bit, "Channel 2 "
RxPDO 0x1609 "RxPDO Mapping Terminal 010"
PDO entry 0x7090:01, 1 bit, "Channel 1 "
PDO entry 0x7090:02, 1 bit, "Channel 2 "
RxPDO 0x160a "RxPDO Mapping Terminal 011"
PDO entry 0x70a0:01, 1 bit, "Channel 1 "
PDO entry 0x70a0:02, 1 bit, "Channel 2 "
RxPDO 0x160b "RxPDO Mapping Terminal 012"
PDO entry 0x70b0:01, 1 bit, "Channel 1 "
PDO entry 0x70b0:02, 1 bit, "Channel 2 "
RxPDO 0x160c "RxPDO Mapping Terminal 013"
PDO entry 0x70c0:01, 1 bit, "Channel 1 "
PDO entry 0x70c0:02, 1 bit, "Channel 2 "
RxPDO 0x160d "RxPDO Mapping Terminal 014"
PDO entry 0x70d0:01, 1 bit, "Channel 1 "
PDO entry 0x70d0:02, 1 bit, "Channel 2 "
RxPDO 0x160e "RxPDO Mapping Terminal 015"
PDO entry 0x70e0:01, 1 bit, "Channel 1 "
PDO entry 0x70e0:02, 1 bit, "Channel 2 "
RxPDO 0x160f "RxPDO Mapping Terminal 016"
PDO entry 0x70f0:01, 1 bit, "Channel 1 "
PDO entry 0x70f0:02, 1 bit, "Channel 2 "
SM3: PhysAddr 0x1600, DefaultSize 0, ControlRegister 0x00, Enable 1
TxPDO 0x1aff "Status PDO"
PDO entry 0xf100:01, 16 bit, "CouplerState"
TxPDO 0x1a01 "TxPDO Mapping Terminal 002"
PDO entry 0x6010:01, 8 bit, "Channel 1 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6010:03, 16 bit, "Channel 1 Data"
PDO entry 0x6010:04, 8 bit, "Channel 2 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6010:06, 16 bit, "Channel 2 Data"
PDO entry 0x6010:07, 8 bit, "Channel 3 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6010:09, 16 bit, "Channel 3 Data"
PDO entry 0x6010:0a, 8 bit, "Channel 4 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6010:0c, 16 bit, "Channel 4 Data"
TxPDO 0x1a02 "TxPDO Mapping Terminal 003"
PDO entry 0x6020:01, 8 bit, "Channel 1 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6020:03, 16 bit, "Channel 1 Data"
PDO entry 0x6020:04, 8 bit, "Channel 2 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6020:06, 16 bit, "Channel 2 Data"
PDO entry 0x6020:07, 8 bit, "Channel 3 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6020:09, 16 bit, "Channel 3 Data"
PDO entry 0x6020:0a, 8 bit, "Channel 4 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6020:0c, 16 bit, "Channel 4 Data"
TxPDO 0x1a03 "TxPDO Mapping Terminal 004"
PDO entry 0x6030:01, 8 bit, "Channel 1 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6030:03, 16 bit, "Channel 1 Data"
PDO entry 0x6030:04, 8 bit, "Channel 2 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6030:06, 16 bit, "Channel 2 Data"
PDO entry 0x6030:07, 8 bit, "Channel 3 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6030:09, 16 bit, "Channel 3 Data"
PDO entry 0x6030:0a, 8 bit, "Channel 4 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6030:0c, 16 bit, "Channel 4 Data"
TxPDO 0x1a04 "TxPDO Mapping Terminal 005"
PDO entry 0x6040:01, 8 bit, "Channel 1 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6040:03, 16 bit, "Channel 1 Data"
PDO entry 0x6040:04, 8 bit, "Channel 2 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6040:06, 16 bit, "Channel 2 Data"
PDO entry 0x6040:07, 8 bit, "Channel 3 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6040:09, 16 bit, "Channel 3 Data"
PDO entry 0x6040:0a, 8 bit, "Channel 4 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6040:0c, 16 bit, "Channel 4 Data"
TxPDO 0x1a05 "TxPDO Mapping Terminal 006"
PDO entry 0x6050:01, 8 bit, ""
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6050:03, 16 bit, ""
PDO entry 0x6050:04, 8 bit, ""
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6050:06, 16 bit, ""
TxPDO 0x1a06 "TxPDO Mapping Terminal 007"
PDO entry 0x6060:01, 8 bit, "Channel 1 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6060:03, 16 bit, "Channel 1 Data"
PDO entry 0x6060:04, 8 bit, "Channel 2 Status"
PDO entry 0x0000:00, 8 bit, "Gap"
PDO entry 0x6060:06, 16 bit, "Channel 2 Data"
TxPDO 0x1a00 "TxPDO Mapping Terminal 001"
PDO entry 0x6000:01, 1 bit, "Channel 1 "
PDO entry 0x6000:02, 1 bit, "Channel 2 "
PDO entry 0x6000:03, 1 bit, "Channel 3 "
PDO entry 0x6000:04, 1 bit, "Channel 4 "
TxPDO 0x1a08 "TxPDO Mapping Terminal 009"
PDO entry 0x6080:01, 1 bit, "Channel 1 "
PDO entry 0x6080:02, 1 bit, "Channel 2 "
TxPDO 0x1b01 "TxPDO Digital Align"
PDO entry 0x0000:00, 10 bit, "Gap"
Regards Wilhelm.
Am 26.10.2010 11:00, schrieb Oliver.Haala at semikron.com:
> Hello,
>
> Using "ethercat pdos" causes the same problem on my system: the result is nothing.
> (Same problem with "ethercat cstruct") Beckhoff-Support told me, that my SII data
> is complete.
>
> SII Area:
> 08 00 02 00 00 00 00 00 00 00 00 00 00 00 b7 00
> 02 00 00 00 22 2c 60 04 00 00 10 00 00 00 00 00
> 00 00 00 00 00 00 00 00 00 10 14 02 00 18 14 02
> 00 1c 88 00 00 1e 88 00 0d 00 00 00 00 00 00 00
> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00 00 00 00 00 00 00 00 00 00 00 01 00 01 00
>
> The "Debug-Version" of my bus consists of:
> BK1120 - KL2012 - KL3001 - KL9010
> What else could cause that problem?
>
> BTW: Are the commandline-tools reg_read/reg_write working in anyway to parametrize
> the intelligent KL terminals? Or rather, How to access the non-slave-bus-terminals memory?
>
> Regards
> Oliver
>
>
>>>> Florian Pose <fp at igh-essen.com> 10/22/2010 9:42 >>>
> Hi,
>
> On Thu, Oct 21, 2010 at 07:42:12PM +0100, Mike Trethewey wrote:
>> Using the SDO commands we can see the default PDO mappings. However,
>> when we do "ethercat pdos" the result is nothing. We have tried to
>> write software to map the PDOs but cannot get a response either.
>
> The reason is, that the SII data are incomplete:
>
>> SII Area:
>> 05 0e 03 04 e8 03 00 00 00 00 00 00 00 00 35 00
>> 9a 00 00 00 23 09 03 00 f4 03 01 00 00 00 00 00
>> 00 00 00 00 00 00 00 00 00 18 8c 00 00 19 8c 00
>> 00 18 8c 00 00 19 8c 00 0e 00 00 00 00 00 00 00
>> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
>> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
>> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
>> 00 00 00 00 00 00 00 00 00 00 00 00 0f 00 01 00
>
> The mandatory category data are missing. Please see
> http://etherlab.org/en/ethercat/faq.php#incomplete-sii
>
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