[etherlab-users] Slave does not provide mailbox sync manager configurations

[Jeroen Van den Keybus]

It looks like your SII only contains the mandatory items. Beckhoff TwinCAT
relies on this information in combination with the .XML description file to
derive the full config. But EtherLab requires the full config in the SII.
You can use the Beckhoff TwinCAT software to create this SII image and
write it into the SII EEPROM (provided it is large enough to hold it).

J.



2014-02-04 Zhiyong Weng <zhiyong.weng at gmail.com>:

> Hi ALL,
>
>    I am newbie for ethercat and trying to use etherlab to exchange data
> with a motor.
>
>    After installing etherlab, I managed to read some device info from the
> motor, with command line tools, like "ethercat slaves". also can conduct
> SDO access successfully.
>
>    So I wrote a piece of code to send the PDOs. but failed and get errors
> in syslog as below.
>     My guess is the motor's slave controller missing sync manager(2 and
> 3) addresses in the SII, as it only show sm0, sm1.
>  But in the xml provied by vendor, it do has 4 sm. file attached.
>  Pls help!
>
> Regards,
> Max
>
> Feb  4 17:59:12 MAX kernel: [13654.005940] EtherCAT DEBUG 0-0: *Slave
> does not provide mailbox sync manager configurations.*
> Feb  4 17:59:12 MAX kernel: [13654.005943] EtherCAT DEBUG 0-0: SM0: Addr
> 0x1800, Size  16, Ctrl 0x26, En 1
> Feb  4 17:59:12 MAX kernel: [13654.005944] EtherCAT DEBUG 0-0: SM1: Addr
> 0x1900, Size  16, Ctrl 0x22, En 1
>
> *sm info in xml: *
> <Sm MinSize="6" MaxSize="40" DefaultSize="16" StartAddress="#x1800"
> ControlByte="#x26" Enable="1">MBoxOut</Sm>
> <Sm MinSize="6" MaxSize="40" DefaultSize="16" StartAddress="#x1900"
> ControlByte="#x12" Enable="1">MBoxIn</Sm>
> <Sm StartAddress="#x1600" ControlByte="#x24" Enable="1">Outputs</Sm>
> <Sm StartAddress="#x1A00" ControlByte="#x10" Enable="1">Inputs</Sm>
>
> *my PDO configure:*
>
> const static ec_pdo_entry_reg_t domain1_regs[] = {
>
>     {AliasAndPositon,  VendorID_ProductCode, 0x1A00, 4, &off_1A00},
>
>     {}
>
> };
>
> ec_pdo_entry_info_t duetfl80_channel1[] = {
>
>     {0x1A00, 4,  32} // modes_of_operation_display
>
> };
>
> static ec_pdo_info_t duetfl80_pdos[] = {
>
>     {0x1900,1 , duetfl80_channel1}    // pdo index input 0x1A00?
>
> };
>
> static ec_sync_info_t duetfl80_syncs[] = {
>
>     {3, EC_DIR_INPUT, 1, duetfl80_pdos},
>
>     {0xff}
>
> };
>
> *ethercat slaves*
> 0 0:0 PREOP + 0x000000e4:0x00001133
>
> *ethercat slaves -v*
> === Master 0, Slave 0 ===
> Device: Main
> State: PREOP
> Flag: +
> Identity:
> Vendor Id: 0x000000e4
> Product code: 0x00001133
> Revision number: 0x00020000
> Serial number: 0x00000000
> DL information:
> FMMU bit operation: no
> Distributed clocks: no
> Port Type Link Loop Signal NextSlave
> 0 N/A up open yes -
> 1 N/A down closed no -
> 2 N/A down closed no -
> 3 N/A down closed no -
> Mailboxes:
> Bootstrap RX: 0x0000/0, TX: 0x0000/0
> Standard RX: 0x1800/16, TX: 0x1900/16
> Supported protocols: CoE
>
> *ethercat sii_read -v*
> SII Area:
> 08 00 00 08 00 00 00 00 00 00 00 00 00 00 f5 00
> e4 00 00 00 33 11 00 00 00 00 02 00 00 00 00 00
> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 18 10 00 00 19 10 00 04 00 00 00 00 00 00 00
> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00
>
>
>
> _______________________________________________
> etherlab-users mailing list
> etherlab-users at etherlab.org
> http://lists.etherlab.org/mailman/listinfo/etherlab-users
>
>
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