[etherlab-users] Error in SII data (Baumueller bmaxx 5300)

[Frank Heckenbach]

I wrote:

: I'm trying to get Baumueller bmaxx 5300 servos running with the
: EtherCAT master.
:
: I had trouble getting PDO communication to work, since the master
: would refuse to configure the slave. After some digging through the
: sources and watching debug output, I found that in the SII data, in
: the general category (0x1e), byte 5 (flags), bits 2 and 3 were not
: set:
:
:   slave->sii.coe_details.enable_pdo_assign =          (flags >> 2) & 0x01;
:   slave->sii.coe_details.enable_pdo_configuration =   (flags >> 3) & 0x01;
:
: So I downloaded the SII data ("sii_read"), set those two bits, and
: wrote the data back ("sii_write"). Afterwards, PDO communication
: worked.
:
: I suppose this one of the cases you mention on
: <http://www.etherlab.org/en/ethercat/faq.php>, and as you write
: there: "Unfortunately, some slave vendors aren't aware, that they
: have to provide their slaves' SII with nearly the same information
: as in the slave device description XML files (see table below).
: [...] This is actually the task of the vendor, an you should tell
: him to do so in the future!"
:
: Therefore, I'd like to know:
:
: - Is this information actually contained in the XML file (or should
:   it be)? In the XML file I got from Baumueller, I didn't find
:   anything that looked like it (enable pdo assign or enable pdo
:   configuration). What should I look for?

Just for info (since I hate it myself to find questions in archives
without their final answers):

I now got an updated XML file from Baumueller which fixes these
problems. Thanks again to Ronaldo Mercado for converting it to
binary SII format.

The interesting entries that were missing in the old version are:

<Descriptions>
  <Devices>
    <Device Physics="YY">
      <Mailbox DataLinkLayer="true">
        <CoE CompleteAccess="true" SdoInfo="true" PdoAssign="true" PdoConfig="true"/>

Regards,
Frank

-- 
Dipl.-Math. Frank Heckenbach <f.heckenbach at fh-soft.de>
Systemprogrammierung, EDV-Beratung
Stubenlohstr. 6, 91052 Erlangen, Deutschland
Tel.: +49-9131-21359