[etherlab-users] Problems with Pdo entry with index 0x0000
Richard Hacker
ha at igh-essen.com
Tue Nov 5 16:36:26 CET 2013
Hello,
I understand your problem when registering gaps. Actually the code in
the ethercat master does not do the right thing by testing on index.
Actually it should be testing for reg->bit_position instead. I will
communicate this with the developer.
Meanwhile you could use ecrt_domain_reg_pdo_entry() manually just as you
find it in the master code in domain.c. ecrt_domain_reg_pdo_entry_list()
is just a convenience function anyway. There is nothing secret about it.
Richard
Am 11/04/2013 06:40 PM, schrieb Thomas Bitsky Jr:
> Here is an example of a working PDO definition that accounts for gaps for an EL3356 Strain Gauge Card. Note that index and sub-index are 0, but the length still has to be the correct value. Does this answer your question or am I missing a deeper issue you're experiencing?
>
> To get the right layout for complicated cards, I typically cheat and fire up TwinCAT in a virtual machine, insert the card into an offline project, then use the PDOs tab to determine the layout. I also use the Startup tab to see what I need to send the card on startup so that it's using the PDO layout I'm expecting.
>
> For example, for this card:
>
> //
> // Register startup configuration for the hardware
> //
>
> ecrt_slave_config_sdo8( sg->sc, 0x1C12, 0, 0 ); /* clear sm pdo 0x1c12 */
> ecrt_slave_config_sdo8( sg->sc, 0x1C13, 0, 0 ); /* clear sm pdo 0x1c12 */
>
>
> ecrt_slave_config_sdo16( sg->sc, 0x1C12, 1, 0x1600 ); /* download pdo 1C12 index */
> ecrt_slave_config_sdo8( sg->sc, 0x1C12, 0, 1 ); /* set number of RxPDO */
>
> ecrt_slave_config_sdo16( sg->sc, 0x1C13, 1, 0x1A00 ); /* download pdo 1C13 index */
>
> #if 0
> ecrt_slave_config_sdo16( sg->sc, 0x1C13, 2, 0x1A01 ); /* download pdo 1C13 index */
> #endif
> ecrt_slave_config_sdo16( sg->sc, 0x1C13, 2, 0x1A02 ); /* download pdo 1C13 index */
>
> ecrt_slave_config_sdo8( sg->sc, 0x1C13, 0, 2 ); /* set number of TxPDO */
>
>
> Which yields the following PDO layout:
>
>
> /* Master 0, Slave 3, "EL3356-0010"
> * Vendor ID: 0x00000002
> * Product code: 0x0d1c3052
> * Revision number: 0x0014000a
> */
>
> static ec_pdo_entry_info_t kl3356_pdo_entries[] = {
> {0x7000, 0x01, 1}, /* Start calibration */
> {0x7000, 0x02, 1}, /* Disable calibration */
> {0x7000, 0x03, 1}, /* Input freeze */
> {0x7000, 0x04, 1}, /* Sample mode */
> {0x7000, 0x05, 1}, /* Tara */
> {0x0000, 0x00, 11}, /* Gap */
> {0x0000, 0x00, 1}, /* Gap */
> {0x6000, 0x02, 1}, /* Overrange */
> {0x0000, 0x00, 1}, /* Gap */
> {0x6000, 0x04, 1}, /* Data invalid */
> {0x0000, 0x00, 2}, /* Gap */
> {0x6000, 0x07, 1}, /* Error */
> {0x6000, 0x08, 1}, /* Calibration in progress */
> {0x6000, 0x09, 1}, /* Steady state */
> {0x0000, 0x00, 4}, /* Gap */
> {0x1c32, 0x20, 1}, /* Sync error */
> {0x0000, 0x00, 1}, /* Gap */
> {0x1800, 0x09, 1},
> #if 0
> {0x6000, 0x11, 32}, /* Value */
> #endif
> {0x6000, 0x12, 32}, /* Real32 Value */
>
> };
>
> static ec_pdo_info_t kl3356_pdos[] = {
> {0x1600, 6, kl3356_pdo_entries + 0}, /* RMB RxPDO-Map Control */
> {0x1a00, 12, kl3356_pdo_entries + 6}, /* RMB TxPDO-Map Status */
> #if 0
> {0x1a01, 1, kl3356_pdo_entries + 18}, /* RMB TxPDO-Map Value (INT32) */
> #endif
> {0x1a02, 1, kl3356_pdo_entries + 18}, /* RMB TxPDO-Map Value (REAL32) */
> };
>
> static ec_sync_info_t kl3356_syncs[] = {
> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
> {2, EC_DIR_OUTPUT, 1, kl3356_pdos + 0, EC_WD_DISABLE},
> {3, EC_DIR_INPUT, 2, kl3356_pdos + 1, EC_WD_DISABLE},
> {0xff}
> };
>
>
> Thanks!
>
> -----Original Message-----
> From: etherlab-users-bounces at etherlab.org [mailto:etherlab-users-bounces at etherlab.org] On Behalf Of Jordi Blanch
> Sent: Wednesday, October 30, 2013 9:37 AM
> To: etherlab-users at etherlab.org
> Subject: [etherlab-users] Problems with Pdo entry with index 0x0000
>
> Hello,
>
> I was trying to configure a Beckhoff module (EL3356-0010) for load cell, and part of the configuration XML I get is this:
>
> <RxPdo Sm="2" Fixed="1" Mandatory="1">
> <Index>#x1600</Index>
> <Name>RMB RxPDO-Map Control</Name> ....
> <Entry>
> <Index>#x7000</Index>
> <SubIndex>5</SubIndex>
> <BitLen>1</BitLen>
> <Name></Name>
> <DataType>BOOL</DataType>
> </Entry>
> <Entry>
> <Index>#x0000</Index>
> <BitLen>11</BitLen>
> </Entry>
> </RxPdo>
> <TxPdo Sm="3" Fixed="1" Mandatory="1">
> <Index>#x1a00</Index>
> <Name>RMB TxPDO-Map Status</Name>
> <Entry>
> <Index>#x0000</Index>
> <BitLen>1</BitLen>
> </Entry>
> <Entry>
> <Index>#x6000</Index>
> <SubIndex>2</SubIndex>
> <BitLen>1</BitLen>
> <Name></Name>
> <DataType>BOOL</DataType>
> </Entry>
> <Entry>
> <Index>#x0000</Index>
> <BitLen>1</BitLen>
> </Entry>
> <Entry>
> <Index>#x6000</Index>
> <SubIndex>4</SubIndex>
> <BitLen>1</BitLen>
> <Name></Name>
> <DataType>BOOL</DataType>
> </Entry>
> <Entry>
> <Index>#x0000</Index>
> <BitLen>2</BitLen>
> </Entry>
> <Entry>
> <Index>#x6000</Index>
> <SubIndex>7</SubIndex>
> <BitLen>1</BitLen>
> <Name></Name>
> <DataType>BOOL</DataType>
> </Entry>
> ...
>
> As you can see there are several PDO-Entry with 0x0 index, they are simply GAPs in the data array.
> The problem comes when I try to set the PDO's, master does not correctly calculate offsets because in the function ecrt_domain_reg_pdo_entry_list, the loop exit condition while going through the ec_pdo_entry_reg_t list is "reg-> index", so it stops the loop when it finds the first one of these GAPs, so NOT having gone through all the records.
>
> int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
> const ec_pdo_entry_reg_t *regs) { ...
> EC_MASTER_DBG(domain->master, 1,
> "ecrt_domain_reg_pdo_entry_list("
> "domain = 0x%p, regs = 0x%p)\n", domain, regs);
>
> for (reg = regs; reg->index; reg++) {
> sc = ecrt_master_slave_config_err(domain->master, reg->alias,
> reg->position, reg->vendor_id, reg->product_code); ...
>
> return 0;
> }
>
> In my case, changing the GAP index to 0x1 works, but is this finish condition correct? How do you deal with these GAPs in the list?
>
> Thank you very much.
>
> --
> Jordi Blanch Carles
> Unidad de Ensayo y Control
>
> ENCOPIM S.L.
> Carretera de Ripollet a Santiga, 104.
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>
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Mit freundlichem Gruß
Richard Hacker
--
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Richard Hacker M.Sc.
richard.hacker at igh-essen.com
Tel.: +49 201 / 36014-16
Ingenieurgemeinschaft IgH
Gesellschaft für Ingenieurleistungen mbH
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Tel.: +49 201 / 360-14-0
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------------------------------------------------------------------------
Mit freundlichem Gruß
Richard Hacker
--
------------------------------------------------------------------------
Richard Hacker M.Sc.
richard.hacker at igh-essen.com
Tel.: +49 201 / 36014-16
Ingenieurgemeinschaft IgH
Gesellschaft für Ingenieurleistungen mbH
Heinz-Bäcker-Str. 34
D-45356 Essen
Amtsgericht Essen HRB 11500
USt-Id.-Nr.: DE 174 626 722
Geschäftsführung:
- Dr.-Ing. T. Finke,
- Dr.-Ing. W. Hagemeister
Tel.: +49 201 / 360-14-0
http://www.igh-essen.com
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