[etherlab-users] [Error] Domain 0: 2 working counter changes

[peak peak]

Hello,

When implementing the ec_rtai example with the evaluation board, I got an 
error/warning as follow.
Each time the warning appears, the output is delayed by a noticeable time!
I would like to ask if this is "normal" or I have done something wrong?

Below is the system log and my declaration.

Thank you very much in advance!
________________________System log_____________________________
[ 2300.821853] ec_rtai_sample: Domain1: State 2.
[ 2301.021834] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 2301.221851] ec_rtai_sample: Domain1: WC 0.
[ 2301.221851] ec_rtai_sample: Domain1: State 0.
[ 2301.321848] EtherCAT 0: Domain 0: 2 working counter changes - now 0/3.
[ 2302.620678] EtherCAT WARNING 0-0: Slave does not support changing the PDO 
mapping!
[ 2302.620685] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6020:01/1 
0x6020:02/1 0x6020:03/2 0x6020:05/2 0x0000:00/8 0x1802:07/1 0x1802:09/1 
0x6020:11/16. Entries to map: 0x6020:01/1 0x6020:02/1 0x6020:03/2 0x6020:05/2 
0x0000:00/8 0x1802:07/1 0x1802:09/1 0x6020:0B/16
[ 2303.221836] EtherCAT 0: Domain 0: Working counter changed to 3/3.
[ 2303.221836] ec_rtai_sample: Domain1: WC 3.
[ 2303.221836] ec_rtai_sample: Domain1: State 2.
[ 2304.020346] EtherCAT 0: Slave states: OP.
[ 2337.418073] EtherCAT 0: Domain 0: Working counter changed to 1/3.
______________________________Declaration_______________________
// offsets for PDO entries
static unsigned int off_dig_out1;
static unsigned int off_dig_in;

const static ec_pdo_entry_reg_t domain1_regs[] = {
    { EL9800SlavePos, Beckhoff_EL9800, 0x7010, 0x01, &off_dig_out1},
    { EL9800SlavePos, Beckhoff_EL9800, 0x6000, 0x01, &off_dig_in},
    {}
};

// Digital out ------------------------

ec_pdo_entry_info_t el9800_channels[] = {
    {0x7010, 0x01, 1}, /* LED 1 */
    {0x7010, 0x02, 1}, /* LED 2 */
    {0x7010, 0x03, 1}, /* LED 3 */
    {0x7010, 0x04, 1}, /* LED 4 */
    {0x7010, 0x05, 1}, /* LED 5 */
    {0x7010, 0x06, 1}, /* LED 6 */
    {0x7010, 0x07, 1}, /* LED 7 */
    {0x7010, 0x08, 1}, /* LED 8 */
    {0x0000, 0x00, 8},
    {0x6000, 0x01, 1}, /* Switch 1 */
    {0x6000, 0x02, 1}, /* Switch 2 */
    {0x6000, 0x03, 1}, /* Switch 3 */
    {0x6000, 0x04, 1}, /* Switch 4 */
    {0x6000, 0x05, 1}, /* Switch 5 */
    {0x6000, 0x06, 1}, /* Switch 6 */
    {0x6000, 0x07, 1}, /* Switch 7 */
    {0x6000, 0x08, 1}, /* Switch 8 */
    {0x0000, 0x00, 8},
    {0x6020, 0x01, 1}, /* Underrange */
    {0x6020, 0x02, 1}, /* Overrange */
    {0x6020, 0x03, 2}, /* Limit 1 */
    {0x6020, 0x05, 2}, /* Limit 2 */
    {0x0000, 0x00, 8},
    {0x1802, 0x07, 1}, /* TxPDO State */
    {0x1802, 0x09, 1}, /* TxPDO Toggle */
    {0x6020, 0x0b, 16}, /* Analog input */

};

ec_pdo_info_t el9800_pdos[] = {
    {0x1601, 9, el9800_channels + 0}, /* DO RxPDO-Map */
    {0x1a00, 9, el9800_channels + 9}, /* DI TxPDO-Map */
    {0x1a02, 8, el9800_channels + 18}, /* AI TxPDO-Map */
};

ec_sync_info_t el9800_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, el9800_pdos + 0, EC_WD_ENABLE},
    {3, EC_DIR_INPUT, 2, el9800_pdos + 1, EC_WD_DISABLE},
    {0xff}
};

_____________________output of ethercat config -v__________________
ethercat config -v
Alias: 0
Position: 0
Vendor Id: 0xe0000002
Product code: 0x26483052
Attached slave: 0 (OP)
Watchdog divider: (Default)
Watchdog intervals: (Default)
SM2, Dir: Output, Watchdog: Enable
  PDO 0x1601
    PDO entry 0x7010:01,  1 bit
    PDO entry 0x7010:02,  1 bit
    PDO entry 0x7010:03,  1 bit
    PDO entry 0x7010:04,  1 bit
    PDO entry 0x7010:05,  1 bit
    PDO entry 0x7010:06,  1 bit
    PDO entry 0x7010:07,  1 bit
    PDO entry 0x7010:08,  1 bit
    PDO entry 0x0000:00,  8 bit
SM3, Dir: Input, Watchdog: Disable
  PDO 0x1a00
    PDO entry 0x6000:01,  1 bit
    PDO entry 0x6000:02,  1 bit
    PDO entry 0x6000:03,  1 bit
    PDO entry 0x6000:04,  1 bit
    PDO entry 0x6000:05,  1 bit
    PDO entry 0x6000:06,  1 bit
    PDO entry 0x6000:07,  1 bit
    PDO entry 0x6000:08,  1 bit
    PDO entry 0x0000:00,  8 bit
  PDO 0x1a02
    PDO entry 0x6020:01,  1 bit
    PDO entry 0x6020:02,  1 bit
    PDO entry 0x6020:03,  2 bit
    PDO entry 0x6020:05,  2 bit
    PDO entry 0x0000:00,  8 bit
    PDO entry 0x1802:07,  1 bit
    PDO entry 0x1802:09,  1 bit
    PDO entry 0x6020:0b, 16 bit
SDO configuration:
  None.
IDN configuration:
  None.


      
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20110328/c9e665b1/attachment-0003.htm>