[etherlab-users] EL 4024 subindex discrepancy [SEC=UNOFFICIAL]

[Richard Hacker]

Hi,

you are right. I am busy corresponding with Beckhoff about this issue.

The problem is that the XML files only document the slaves and requires 
diligence to keep in sync with source code in the slaves.

Precluding that Beckhoff will have to update the XML files, I have 
changed it in the latest release of EtherLab 2.0 already. This is 
available on sourceforge.

In any event, since these slaves are not reconfigurable, the master will 
only complain about the misconfiguration. Not being able to do anything 
about it, it will try to bring the slave into OP and everything will run 
as expected. Nonetheless, this contradiction will have to be addressed.

- Richard

On 12/06/2013 01:12 AM, LYNCH, Damien wrote:
> Hi,
>
> When I run "ethercat pdos" on an EL4024 I get the output below. The subindexes for the analog output channels are 1.
>
> SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
> SM1: PhysAddr 0x1080, DefaultSize  128, ControlRegister 0x22, Enable 1
> SM2: PhysAddr 0x1100, DefaultSize    8, ControlRegister 0x24, Enable 1
>    RxPDO 0x1600 "RxPDO-Map OutputsCh.1"
>      PDO entry 0x7000:01, 16 bit, "Analog output"
>    RxPDO 0x1601 "RxPDO-Map OutputsCh.2"
>      PDO entry 0x7010:01, 16 bit, "Analog output"
>    RxPDO 0x1602 "RxPDO-Map OutputsCh.3"
>      PDO entry 0x7020:01, 16 bit, "Analog output"
>    RxPDO 0x1603 "RxPDO-Map OutputsCh.4"
>      PDO entry 0x7030:01, 16 bit, "Analog output"
> SM3: PhysAddr 0x1180, DefaultSize    0, ControlRegister 0x20, Enable 0
>
> Should the subindexes not be 0x11? In the "Beckhoff EL4xxx.xml" file the EL4024 subindexes are 17. E.g.:
>
> <RxPdo Fixed="1" Mandatory="1" Sm="2">
>      <Index>#x1600</Index>
>      <Name>AO Outputs Channel 1</Name>
>      <Entry>
>          <Index>#x7000</Index>
>          <SubIndex>17</SubIndex>
>          <BitLen>16</BitLen>
>          <Name>Analog output</Name>
>          <DataType DScale="0-20">INT</DataType>
>      </Entry>
> </RxPdo>
>
> TwinCAT reports the subindexes as 17 as well. On top of this "ethercat sii_read" seems to indicate the subindexes are 0x11 as well, though I must admit I am not proficient at deciphering the SII.
>
> Thanks,
> Damien
> _______________________________________________
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> etherlab-users at etherlab.org
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>

Mit freundlichem Gruß

Richard Hacker

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