[etherlab-users] problem with Lenze module configuration
Eugen Viszus
eugen.viszus at gmail.com
Wed Oct 17 15:55:29 CEST 2012
Thank you for hint. I tried it but the ethercat master shows me the
warning that the slave doesn't support changing of PDO mapping.
[ 7803.246039] EtherCAT WARNING 0-0: Slave does not support changing
the PDO mapping!
[ 7803.246042] EtherCAT WARNING 0-0: Currently mapped PDO entries:
0x7000:01/1 0x7000:02/1 0x0000:00/6. Entries to map: 0x7000:01/1
0x7000:02/1
So the problem still remains. Slave cannot change the state(PREOP ->
SAFEOP) due to invalid input configuration(AL status message 0x001E).
It's the same when I tried to change the state through command line
'ethercat -p0 states OP'.
Strange thing is that PDO mapping seems ok. Here are the "RxPDO Map" SDOs.
ethercat upload -p0 -tuint32 0x1600 0x01
0x70000101 1879048449
ethercat upload -p0 -tuint32 0x1600 0x02
0x70000201 1879048705
ethercat upload -p0 -tuint32 0x1600 0x03
0x00000006 6
Another strange thing is that the ethercat master shows errror about
invalid input configuration and I don't have any inputs on the module,
only digital outputs.Why doesn't it shows the AL status message
0x001D: invalid output configuration?
Could this behaviour be caused by some Lenze specific properties of IO
modules?(I don't know if there is some)
Thank you for any help.
2012/10/15 Matthieu Bec <mbec at gmto.org>:
> Hello Eugen,
>
> Don't map this, it's not a pdo:
>
>
>> {0x0000, 0x00, 6}, /* Gap */
>
>
> Different ways to do it, just make sure your changes are properly reflected
> in your slave_0_pdos
> This should work with slave_0_pdo_entries as you have it by skipping item
> #3:
>
> ec_pdo_info_t slave_0_pdos[] = {
>
> {0x1600, 2, slave_0_pdo_entries + 0}, /* RxPDO Map */
> ^ take 2 ^ from 0
>
> {0x1aff, 2, slave_0_pdo_entries + 3}, /* Status PDO */
> ^ take 2 ^ from 3
> }
>
> Regards,
> Matthieu
>
>
> On 10/15/12 12:36, Eugen Viszus wrote:
>>
>> Hi all,
>>
>> I'm trying to communicate with bus coupler module Lenze EPM-S130 which
>> containts one module EPM-S300(2 digital ouputs). I'm using EtherCAT
>> Master in version 1.5.1. The code of program is based on the "mini.c"
>> example. In the code I change the slave configuration according my
>> module. After the insertion ec_mini.ko (insmod ec_mini.ko) the program
>> doesn't work. In the kernel message buffer I can see that there is
>> problem with changing state from PREOP to SAFEOP due to "Invalid input
>> configuration".
>>
>> I was trying the same program with Beckhoff EL2004 module(4DO) and it
>> worked perfect.
>>
>> On the end of this mail I attach the slave informations('ethercat slaves
>> -a 1 -v'), PDO entries ('ethercat pdos -a 1'), configuration code which
>> was generated by 'ethercat cstruct -a 1', configuration part of the code
>> and kernel message buffer.
>>
>> Does anyone any problem witch Lenze modules configuration? I appreciate
>> any hints. Thank you for your help.
>>
>> Best regards,
>> Eugen Viszus
>> -----------------------------------------------------------
>> 'ethercat slaves -a 1 -v'
>>
>> === Master 0, Slave 0 ===
>> Alias: 1
>> State: PREOP
>> Flag: +
>> Identity:
>> Vendor Id: 0x0000003b
>> Product code: 0x00000514
>> Revision number: 0x00000011
>> Serial number: 0x00000000
>> DL information:
>> FMMU bit operation: no
>> Distributed clocks: yes, 64 bit
>> DC system time transmission delay: 0 ns
>> Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
>> 0 MII up open yes - 1373391132 0 0
>> 1 MII down closed no - - - -
>> 2 N/A down closed no - - - -
>> 3 N/A down closed no - - - -
>> Mailboxes:
>> Bootstrap RX: 0x1200/532, TX: 0x1500/532
>> Standard RX: 0x1c00/512, TX: 0x1e00/512
>> Supported protocols: CoE, FoE
>> General:
>> Group: Coupler
>> Image name:
>> Order number: Lenze EPM-S130
>> Device name: Lenze EPM-S130 EtherCAT Buskoppler (MDP)
>> CoE details:
>> Enable SDO: yes
>> Enable SDO Info: yes
>> Enable PDO Assign: no
>> Enable PDO Configuration: no
>> Enable Upload at startup: yes
>> Enable SDO complete access: yes
>> Flags:
>> Enable SafeOp: no
>> Enable notLRW: no
>> Current consumption: 0 mA
>>
>> -----------------------------------------------------------
>> 'ethercat pdos -a 1'
>>
>> SM0: PhysAddr 0x1c00, DefaultSize 512, ControlRegister 0x26, Enable 1
>> SM1: PhysAddr 0x1e00, DefaultSize 512, ControlRegister 0x22, Enable 1
>> SM2: PhysAddr 0x1000, DefaultSize 0, ControlRegister 0x24, Enable 0
>> RxPDO 0x1600 "RxPDO Map"
>> PDO entry 0x7000:01, 1 bit, "Output "
>> PDO entry 0x7000:02, 1 bit, "Output "
>> PDO entry 0x0000:00, 6 bit, "Gap"
>> SM3: PhysAddr 0x1600, DefaultSize 0, ControlRegister 0x00, Enable 0
>> TxPDO 0x1aff "Status PDO"
>> PDO entry 0xf100:01, 32 bit, "Hardware Interrupt Counter "
>> PDO entry 0xf100:02, 32 bit, "Diagnostic Interrupt Counter "
>>
>> -----------------------------------------------------------
>> 'ethercat cstruct -a 1'
>>
>> /* Master 0, Slave 0, "Lenze EPM-S130"
>> * Vendor ID: 0x0000003b
>> * Product code: 0x00000514
>> * Revision number: 0x00000011
>> */
>>
>> ec_pdo_entry_info_t slave_0_pdo_entries[] = {
>> {0x7000, 0x01, 1}, /* Output */
>> {0x7000, 0x02, 1}, /* Output */
>> {0x0000, 0x00, 6}, /* Gap */
>> {0xf100, 0x01, 32}, /* Hardware Interrupt Counter */
>> {0xf100, 0x02, 32}, /* Diagnostic Interrupt Counter */
>> };
>>
>> ec_pdo_info_t slave_0_pdos[] = {
>> {0x1600, 3, slave_0_pdo_entries + 0}, /* RxPDO Map */
>> {0x1aff, 2, slave_0_pdo_entries + 3}, /* Status PDO */
>> };
>>
>> ec_sync_info_t slave_0_syncs[] = {
>> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
>> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
>> {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_DISABLE},
>> {3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
>> {0xff}
>> };
>> -----------------------------------------------------------
>> the configuration part of my code
>>
>> // process data
>> static uint8_t *domain1_pd; // process data memory
>>
>>
>> #define DigOutSlavePos 1, 0
>>
>> #define Lenze_EPMS130 0x0000003B, 0x00000514
>>
>>
>> // offsets for PDO entries
>> static unsigned int off_dig_out;
>>
>> const static ec_pdo_entry_reg_t domain1_regs[] = {
>> {DigOutSlavePos, Lenze_EPMS130, 0x7000,0x01, &off_dig_out},
>> {}
>> };
>>
>> static unsigned int counter = 0;
>> static unsigned int blink = 0;
>>
>>
>> #if CONFIGURE_PDOS
>>
>> // Digital out ------------------------
>>
>> /* Master 0, Slave 0, "Lenze EPM-S130"
>> * Vendor ID: 0x0000003b
>> * Product code: 0x00000514
>> * Revision number: 0x00000011
>> */
>>
>> ec_pdo_entry_info_t s130_channels[] = {
>> {0x7000, 0x01, 1}, /* Output */
>> {0x7000, 0x02, 1}, /* Output */
>> {0x0000, 0x00, 6}, /* Gap */
>> {0xf100, 0x01, 32}, /* Hardware Interrupt Counter */
>> {0xf100, 0x02, 32}, /* Diagnostic Interrupt Counter */
>> };
>>
>> ec_pdo_info_t s130_pdos[] = {
>> {0x1600, 3, s130_channels + 0}, /* RxPDO Map */
>> {0x1aff, 2, s130_channels + 3}, /* Status PDO */
>> };
>>
>> ec_sync_info_t s130_syncs[] = {
>> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
>> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
>> {2, EC_DIR_OUTPUT, 1, s130_pdos + 0, EC_WD_DISABLE},
>> {3, EC_DIR_INPUT, 1, s130_pdos + 1, EC_WD_DISABLE},
>> {0xff}
>> };
>>
>> #endif
>> -----------------------------------------------------------
>> kernel message buffer
>>
>> [13787.239527] ec_mini: Starting...
>> [13787.239533] EtherCAT: Requesting master 0...
>> [13787.239535] EtherCAT DEBUG 0: IDLE -> OPERATION.
>> [13787.239538] EtherCAT: Successfully requested master 0.
>> [13787.239542] EtherCAT DEBUG 0: ecrt_master_callbacks(master =
>> 0xffff88003c27d000, send_cb = 0xffffffffa0095040, receive_cb =
>> 0xffffffffa0095000, cb_data = 0xffff88003c27d000)
>> [13787.239546] ec_mini: Registering domain...
>> [13787.239549] EtherCAT DEBUG 0: ecrt_master_create_domain(master =
>> 0xffff88003c27d000)
>> [13787.239552] EtherCAT DEBUG 0: Created domain 0.
>> [13787.239555] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>> 0xffff88003c27d000, alias = 1, position = 0, vendor_id = 0x0000003b,
>> product_code = 0x00000514)
>> [13787.239559] EtherCAT DEBUG 0: Creating slave configuration for 1:0,
>> 0x0000003B/0x00000514.
>> [13787.239564] EtherCAT DEBUG 0 1:0: Attached slave 0.
>> [13787.239575] EtherCAT DEBUG 0 1:0: ecrt_slave_config_pdos(sc =
>> 0xffff880039647000, n_syncs = 4294967295, syncs = 0xffffffffa0095880)
>> [13787.239579] EtherCAT DEBUG 0 1:0: ecrt_slave_config_sync_manager(sc =
>> 0xffff880039647000, sync_index = 0, dir = 1, watchdog_mode = 2)
>> [13787.239583] EtherCAT DEBUG 0 1:0: ecrt_slave_config_sync_manager(sc =
>> 0xffff880039647000, sync_index = 1, dir = 2, watchdog_mode = 2)
>> [13787.239588] EtherCAT DEBUG 0 1:0: ecrt_slave_config_sync_manager(sc =
>> 0xffff880039647000, sync_index = 2, dir = 1, watchdog_mode = 2)
>> [13787.239592] EtherCAT DEBUG 0 1:0:
>> ecrt_slave_config_pdo_assign_clear(sc = 0xffff880039647000, sync_index =
>> 2)
>> [13787.239597] EtherCAT DEBUG 0 1:0: ecrt_slave_config_pdo_assign_add(sc
>> = 0xffff880039647000, sync_index = 2, pdo_index = 0x1600)
>> [13787.239601] EtherCAT DEBUG 0 1:0: Loading default mapping for PDO
>> 0x1600.
>> [13787.239604] EtherCAT DEBUG 0 1:0: Found PDO name "RxPDO Map".
>> [13787.239607] EtherCAT DEBUG 0 1:0: Entry 0x7000:01.
>> [13787.239609] EtherCAT DEBUG 0 1:0: Entry 0x7000:02.
>> [13787.239611] EtherCAT DEBUG 0 1:0: Entry 0x0000:00.
>> [13787.239614] EtherCAT DEBUG 0 1:0:
>> ecrt_slave_config_pdo_mapping_clear(sc = 0xffff880039647000, pdo_index =
>> 0x1600)
>> [13787.239619] EtherCAT DEBUG 0 1:0:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880039647000, pdo_index =
>> 0x1600, entry_index = 0x7000, entry_subindex = 0x01, entry_bit_length = 1)
>> [13787.239625] EtherCAT DEBUG 0 1:0:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880039647000, pdo_index =
>> 0x1600, entry_index = 0x7000, entry_subindex = 0x02, entry_bit_length = 1)
>> [13787.239630] EtherCAT DEBUG 0 1:0:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880039647000, pdo_index =
>> 0x1600, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
>> [13787.239635] EtherCAT DEBUG 0 1:0: ecrt_slave_config_sync_manager(sc =
>> 0xffff880039647000, sync_index = 3, dir = 2, watchdog_mode = 2)
>> [13787.239639] EtherCAT DEBUG 0 1:0:
>> ecrt_slave_config_pdo_assign_clear(sc = 0xffff880039647000, sync_index =
>> 3)
>> [13787.239644] EtherCAT DEBUG 0 1:0: ecrt_slave_config_pdo_assign_add(sc
>> = 0xffff880039647000, sync_index = 3, pdo_index = 0x1AFF)
>> [13787.239648] EtherCAT DEBUG 0 1:0: Loading default mapping for PDO
>> 0x1AFF.
>> [13787.239650] EtherCAT DEBUG 0 1:0: Found PDO name "Status PDO".
>> [13787.239653] EtherCAT DEBUG 0 1:0: Entry 0xF100:01.
>> [13787.239656] EtherCAT DEBUG 0 1:0: Entry 0xF100:02.
>> [13787.239658] EtherCAT DEBUG 0 1:0:
>> ecrt_slave_config_pdo_mapping_clear(sc = 0xffff880039647000, pdo_index =
>> 0x1AFF)
>> [13787.239663] EtherCAT DEBUG 0 1:0:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880039647000, pdo_index =
>> 0x1AFF, entry_index = 0xF100, entry_subindex = 0x01, entry_bit_length =
>> 32)
>> [13787.239668] EtherCAT DEBUG 0 1:0:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880039647000, pdo_index =
>> 0x1AFF, entry_index = 0xF100, entry_subindex = 0x02, entry_bit_length =
>> 32)
>> [13787.239673] ec_mini: Registering PDO entries...
>> [13787.239675] EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain =
>> 0xffff880032b9f240, regs = 0xffffffffa0095400)
>> [13787.239679] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>> 0xffff88003c27d000, alias = 1, position = 0, vendor_id = 0x0000003b,
>> product_code = 0x00000514)
>> [13787.239684] EtherCAT DEBUG 0 1:0: ecrt_slave_config_reg_pdo_entry(sc
>> = 0xffff880039647000, index = 0x7000, subindex = 0x01, domain =
>> 0xffff880032b9f240, bit_position = 0x (null))
>> [13787.239690] EtherCAT DEBUG 0: Domain 0: Added 1 bytes, total 1.
>> [13787.239693] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain =
>> 0xffff880032b9f240, mem = 0xffff88000f11c520)
>> [13787.239696] ec_mini: Activating master...
>> [13787.239698] EtherCAT DEBUG 0: ecrt_master_activate(master =
>> 0xffff88003c27d000)
>> [13787.239703] EtherCAT 0: Domain0: Logical address 0x00000000, 1 byte,
>> expected working counter 1.
>> [13787.239706] EtherCAT 0: Datagram domain0-0: Logical offset
>> 0x00000000, 1 byte, type LWR.
>> [13787.239709] EtherCAT DEBUG 0: Stopping master thread.
>> [13787.239714] EtherCAT DEBUG 0: Master IDLE thread exiting...
>> [13787.239739] EtherCAT 0: Master thread exited.
>> [13787.239741] EtherCAT DEBUG 0: FSM datagram is ffff88003c27d648.
>> [13787.239743] EtherCAT 0: Starting EtherCAT-OP thread.
>> [13787.239789] ec_mini: Starting cyclic sample thread.
>> [13787.239791] ec_mini: Started.
>> [13787.243169] EtherCAT DEBUG 0: Operation thread running with fsm
>> interval = 1000 us, max data size=11250
>> [13787.243175] EtherCAT WARNING 0: 1 datagram UNMATCHED!
>> [13787.249023] ec_mini: 1 slave(s).
>> [13787.249026] ec_mini: AL states: 0x02.
>> [13787.249028] ec_mini: Link is up.
>> [13787.249037] EtherCAT DEBUG 0: Configuration changed (aborting state
>> check).
>> [13787.249040] EtherCAT DEBUG 0: Writing system time offsets...
>> [13787.249042] EtherCAT WARNING 0: No app_time received up to now, but
>> master already active.
>> [13787.249045] EtherCAT DEBUG 0: Requesting OP...
>> [13787.289031] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
>> [13787.289036] EtherCAT DEBUG 0-0: Configuring...
>> [13787.329025] EtherCAT DEBUG 0-0: Now in INIT.
>> [13787.329029] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
>> [13787.349021] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
>> [13787.369026] EtherCAT DEBUG 0-0: Clearing DC assignment...
>> [13787.389024] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
>> [13787.389030] EtherCAT DEBUG 0-0: SM0: Addr 0x1C00, Size 512, Ctrl
>> 0x26, En 1
>> [13787.389033] EtherCAT DEBUG 0-0: SM1: Addr 0x1E00, Size 512, Ctrl
>> 0x22, En 1
>> [13787.449029] EtherCAT DEBUG 0-0: Now in PREOP.
>> [13787.449050] EtherCAT DEBUG 0-0: SM2: Addr 0x1000, Size 1, Ctrl 0x24,
>> En 1
>> [13787.449053] EtherCAT DEBUG 0-0: SM3: Addr 0x1600, Size 8, Ctrl 0x00,
>> En 0
>> [13787.469026] EtherCAT DEBUG 0 1:0: FMMU: LogAddr 0x00000000, Size 1,
>> PhysAddr 0x1000, SM2, Dir out
>> [13787.499019] EtherCAT 0: Domain 0: Working counter changed to 1/1.
>> [13787.499023] ec_mini: Domain1: WC 1.
>> [13787.499025] ec_mini: Domain1: State 2.
>> [13787.529023] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave
>> refused state change (PREOP + ERROR).
>> [13787.549024] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid
>> input configuration".
>> [13787.589025] EtherCAT 0-0: Acknowledged state PREOP.
>>
>>
>> _______________________________________________
>> etherlab-users mailing list
>> etherlab-users at etherlab.org
>> http://lists.etherlab.org/mailman/listinfo/etherlab-users
>>
>
>
> --
> Matthieu Bec GMTO Corp.
> cell: +1 626 354 9367 P.O. Box 90933
> phone: +1 626 204 0527 Pasadena, CA 91109-0933
>
More information about the Etherlab-users
mailing list