[etherlab-users] SDO type size problem

[Dr.-Ing. Wilhelm Hagemeister]

Hello Mr Schnebeck,

usually this is a problem of the slaves firmware. The fact that things
are running with TwinCat does not mean it is a fault free slave.
Things like this happen quiet regularly.

If you can't solve the problem with HBM we can offer you to test the
device here in Essen with our master.

With kind regards

Wilhelm Hagemeister.

-- 
------------------------------------------------------------------------

Dr.-Ing. Wilhelm Hagemeister
wilhelm.hagemeister at igh-essen.com
Tel.: +49 201 / 36014-20

Ingenieurgemeinschaft IgH
Gesellschaft für Ingenieurleistungen mbH
Heinz-Bäcker-Str. 34
D-45356 Essen
Amtsgericht Essen HRB 11500
USt-Id.-Nr.: DE 174 626 722
Geschäftsführung: Dr.-Ing. S. Rotthäuser, Dr.-Ing. T. Finke, Dr.-Ing. W.
Hagemeister
Tel.: +49 201 / 360-14-0
http://www.igh-essen.com

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Am 24.09.2010 09:01, schrieb 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
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