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

hamelin.philippe at ireq.ca hamelin.philippe at ireq.ca
Tue Jan 22 20:22:20 CET 2013 

Hello,

I'm still investigating the problem, but I think I've found some part of the problem. I traced the code which reads TxPDO/RxPDO (slave.c : ec_slave_fetch_sii_pdos(...)) from the SII and this seems correct:

TxPDO found (SII category 0x32):
 - 0x1a00 'SysTime'
 - 0x1a01 'Feedback'

RxPDO found (SII category 0x33): 
 - 0x1602 'DC Sync Activate' mapped to SM0
 - 0x1603 'DC Sync Start' mapped to SM1
 - 0x1600 'Channel 1' mapped to SM2
 - 0x1601 'Channel 2' mapped to SM2

However, when using the command line tool I get the following:

$ ethercat -p1 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


As we can see, 0x1602 and 0x1603 are reported as TxPDO instead of RxPDO. Moreover, 0x1602 and 0x1603 are not in the valid address range for TxPDO (0x1a00 -> 0x1bff). Looking at the command line tool source code, the direction (RxPDO vs. TxPDO) is deduced from the bit 2 of the sync manager 'Control Register'. I'm currently trying to validate that, but for the moment I think that the SII control register reports SM0 and SM1 as 'Inputs' (TxPDO) while the associated PDOs are rather RxPDO.

Thank you for your help!

Philippe

-----Message d'origine-----
De : Matthieu Bec [mailto:mbec at gmto.org] 
Envoyé : 22 janvier 2013 13:55
À : Hamelin, Philippe
Cc : etherlab-users at etherlab.org
Objet : Re: [etherlab-users] EL2252: SII eeprom and XML config mismatch

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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