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

[Gavin Lambert]

Just to be extra confusing, “output” and “input” are from the perspective of
the master, but “RxPDO” and “TxPDO” are from the perspective of the slave.
So “output” == “RxPDO”.

 

This isn’t unique to Etherlab, BTW, these are the standard EtherCAT
definitions, which I think may have been inherited from CANopen.

 

From: etherlab-users-bounces at etherlab.org
[mailto:etherlab-users-bounces at etherlab.org] On Behalf Of
hamelin.philippe at ireq.ca
Sent: Tuesday, 22 January 2013 09:48
To: etherlab-users at etherlab.org
Subject: [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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