[etherlab-users] SDO type size problem

[Thorsten Schnebeck]

Hi,

we have here a problem to bring a HBM etherCAT measurement box into PREOP state.
The problem seems to be a SDO type size mishmash. Here is a part of the SDO list:
= Master 0, Slave 0 ===
SDO 0x1000, "Device type"
  0x1000:00, r-r-r-, uint32, 32 bit, "Device type"
SDO 0x1008, "Device name"
  0x1008:00, r-r-r-, string, 96 bit, "Device name"
SDO 0x1009, "Hardware version"
  0x1009:00, r-r-r-, string, 56 bit, "Hardware version"
SDO 0x100a, "Software version"
  0x100a:00, r-r-r-, string, 96 bit, "Software version"
SDO 0x1018, "Identity object"
  0x1018:00, ------, uint8, 16 bit, "Number of entries"
  0x1018:01, r-r-r-, uint32, 32 bit, "Vendor id"
  0x1018:02, r-r-r-, uint32, 32 bit, "Product code"
  0x1018:03, r-r-r-, uint32, 32 bit, "Revision number"
  0x1018:04, r-r-r-, uint32, 32 bit, "Serial number"
SDO 0x1600, "RxPDO1 Mapping"
  0x1600:00, rwr-r-, uint8, 16 bit, "Number of entries"
  0x1600:01, rwr-r-, uint32, 32 bit, ""
SDO 0x1601, "RxPDO2 Mapping"
  0x1601:00, rwr-r-, uint8, 16 bit, "Number of entries"
  0x1601:01, rwr-r-, uint32, 32 bit, ""
SDO 0x1a00, "TxPDO1 mapping "
  0x1a00:00, rwr-r-, uint8, 16 bit, "Number of entries"
  0x1a00:01, rwr-r-, uint32, 32 bit, ""
  0x1a00:02, rwr-r-, uint32, 32 bit, ""
SDO 0x1a01, "TxPDO2 mapping "
  0x1a01:00, rwr-r-, uint8, 16 bit, "Number of entries"

You see, every  "Number of entries" is a 16bit uint8. That leeds to debug messages of the etherCAT master like:
 EtherCAT 0: Scanning bus.
 EtherCAT ERROR 0-0: Invalid data size 2 returned when uploading SDO 0x1C12:00.
 EtherCAT ERROR 0-0: Invalid data size 2 returned when uploading SDO 0x1C13:00.
 EtherCAT ERROR 0-0: Invalid data size 2 returned when uploading SDO 0x1C14:00.
 EtherCAT ERROR 0: Buffer too small.
 EtherCAT ERROR 0: Buffer too small.

These errors during INIT result to PREOP+ERROR as final state for this device.

Side note: TwinCAT does not show these problems and brings the device up to OP-mode.

Is this a problem in the EtherCAT slave client firmware or can this be a problem of the etherlab-master 1.5?

Bye

  Thorsten