[etherlab-users] EL2252: SII eeprom and XML config mismatch

[Matthieu Bec]

Hello Philippe,

see Gavin's reply for clarification on in/out and Rx/Tx

> Outputs:
> - SM0: DC Sync Activate
> - SM1: DC Sync Start
> - SM2: Channel 1 & 2 outputs

Your `ethercat pdo` report seems in agreement

> Inputs:
> - SM3: SysTime and Feedback

Those show 'unticked' in my twcat by default (xml entries have no
default SM). The mapping has to be done by hand, some
ecrt_slave_config_pdos() in your application startup.

Matthieu




On 1/22/13 7:39 AM, hamelin.philippe at ireq.ca wrote:
> Hi,
>  
> as far as I know, given that the device doesn't support CoE, the PDO
> informations are fetched in the SII eeprom by Etherlab. Am I right?
>  
> So if TwinCat doesn't give me the same PDO informations are Etherlab,
> there may be two reasons:
>  
> a) Etherlab doesn't interpret the SII correctly (I would be surprised of
> that)
> b) TwinCAT doesn't interpret the SII, but the XML file which may be more
> complete
>  
> Any comments are welcome, thank you!
>  
> Philippe
>  
> ------------------------------------------------------------------------
> *De :* etherlab-users-bounces at etherlab.org
> [mailto:etherlab-users-bounces at etherlab.org] *De la part de*
> hamelin.philippe at ireq.ca
> *Envoyé :* 21 janvier 2013 16:42
> *À :* etherlab-users at etherlab.org
> *Objet :* Re: [etherlab-users] EL2252: SII eeprom and XML config mismatch
> 
> Hi again,
>  
> let me correct my interpretation:
>  
> SM2 is and must be a RxPDO. The problem is rather on SM0 and SM1 which
> should be also RxPDO. Also, I generated a SII binary file using TwinCat,
> then uploaded the content to the slave. However, except that the
> description of the slave is now in english instead of deutch, I get the
> same result. It's very strange that the new SII didn't resolved the
> problem. In TwinCat, the sync manager and pdo mapping is correctly shown
> with respect to the XML file. However, it's like the generated SII
> binary file doesn't match?
>  
> Thank you,
>  
> Philippe
> 
> ------------------------------------------------------------------------
> *De :* etherlab-users-bounces at etherlab.org
> [mailto:etherlab-users-bounces at etherlab.org] *De la part de*
> hamelin.philippe at ireq.ca
> *Envoyé :* 21 janvier 2013 15:48
> *À :* etherlab-users at etherlab.org
> *Objet :* [etherlab-users] EL2252: SII eeprom and XML config mismatch
> 
> Hi,
>  
> I'm having troubles using the Beckhoff EL2252 with Etherlab. According
> to the documentation and the XML file, I should have 5 sync managers:
>  
> Outputs:
> - SM0: DC Sync Activate
> - SM1: DC Sync Start
> - SM2: Channel 1 & 2 outputs
>  
> Inputs:
> - SM3: SysTime and Feedback
>  
> However, when connecting the slave to the Etherlab master I get the
> following config (which is fixed by the device):
>  
> $ ethercat -p 1 pdo
> SM0: PhysAddr 0x0981, DefaultSize    0, ControlRegister 0x00, Enable 12
>   TxPDO 0x1602 "DC Sync Activate"
>     PDO entry 0x1d09:81,  8 bit, "Activate"
> SM1: PhysAddr 0x0990, DefaultSize    0, ControlRegister 0x00, Enable 4
>   TxPDO 0x1603 "DC Sync Start"
>     PDO entry 0x1d09:90, 64 bit, "StartTime"
> SM2: PhysAddr 0x0f00, DefaultSize    0, ControlRegister 0x44, Enable 9
>   RxPDO 0x1600 "Channel 1"
>     PDO entry 0x7000:01,  1 bit, "Output"
>     PDO entry 0x7000:02,  1 bit, "TriState"
>   RxPDO 0x1601 "Channel 2"
>     PDO entry 0x7010:01,  1 bit, "Output"
>     PDO entry 0x7010:02,  1 bit, "TriState"
>     PDO entry 0x0000:00,  4 bit, ""
>   RxPDO 0x1604 "Reserved"
> SM3: PhysAddr 0x0910, DefaultSize    0, ControlRegister 0x00, Enable 4
> SM4: PhysAddr 0x1000, DefaultSize    0, ControlRegister 0x00, Enable 4
>  
> Is doesn't make any sense to me that SM2 is a RxPDO since this is the
> output state that the master should provides. Moreover, the PDO mapping
> is fixed by the device so I can't configure my own mapping. I see two
> possibles problems:
>  
> a) The SII eeprom isn't correct;
> or,
> b) I don't understand the meaning of these lines :-)
>  
> Any ideas?
>  
> Thank you,
>  
> ------------------------------------
> Philippe Hamelin, ing., M. Ing
> Chercheur / Researcher
> 
> T: 450-652-8499 x2198
> F: 450-652-1316
> 
> Expertise robotique et civil
> Institut de recherche d'Hydro-Québec (IREQ)
> 1740, boul. Lionel-Boulet
> Varennes (QC) J3X 1S1, Canada
>  
> 
> 
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