[etherlab-users] problem with Lenze module configuration
Matthieu Bec
mbec at gmto.org
Wed Oct 17 18:14:23 CEST 2012
Hello Eugen,
>> [ 7803.246039] EtherCAT WARNING 0-0: Slave does not support changing
>> the PDO mapping!
Try #define CONFIGURE_PDOS 0, that should skip the mapping and maybe
help you get to OP
>> I don't have any inputs on the module,
>> only digital outputs.
the log shows both RxPdo=outputs and TxPdo=inputs
>>> RxPDO 0x1600 "RxPDO Map"
>>> PDO entry 0x7000:01, 1 bit, "Output "
>>> PDO entry 0x7000:02, 1 bit, "Output "
>>> ...
>>> TxPDO 0x1aff "Status PDO"
>>> PDO entry 0xf100:01, 32 bit, "Hardware Interrupt Counter "
>>> PDO entry 0xf100:02, 32 bit, "Diagnostic Interrupt Counter "
Regards,
Matthieu
On 10/17/12 06:55, Eugen Viszus wrote:
> 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
>>
--
Matthieu Bec GMTO Corp.
cell: +1 626 354 9367 P.O. Box 90933
phone: +1 626 204 0527 Pasadena, CA 91109-0933
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