[etherlab-users] Beckhoff EL3632

james.rowland at diamond.ac.uk james.rowland at diamond.ac.uk
Fri May 25 15:51:14 CEST 2012


Has anyone used the Beckhoff EL3632 with the EtherLab master?

On my device the PDO entry mapping in the SDO directory is inconsistent with the one stored in the SII EEPROM. If I disable CoE in the EEPROM then the correct PDO entries are returned (that match the Beckhoff XML file). TwinCAT reports the same incorrect PDO entry mapping in the SDO directory but runs ok. Here is one entry from 'ethercat pdos'

With CoE enabled:

  TxPDO 0x1a01 ""
    PDO entry 0x6001:01, 16 bit, ""

With CoE disabled (this entry is correct according to the XML and TwinCAT):

  TxPDO 0x1a01 "Ch1 Sample"
    PDO entry 0x6002:01, 16 bit, "Ch1 Value"

This appears in dmesg when I type 'ethercat sdos'
EtherCAT ERROR 0-4: SDO entry 0x1A01:02 does not exist!

But this looks more like a badly behaved device than a bug in the master.


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