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

[Zhiyong Weng]

Hi,

   I have new problem. "sii_write" can not update slaves's sii.

   I generated new sii binary file (1024 byte), base on xml file in twincat.
   use etherlab cmd "sii_write" write the bin file to slave without any
error info.
sudo ./ethercat sii_write -p 0 sii-new.bin
   power off motor and restart etherlab, power on motor.

   check slave's sii content, still same. it is 128 byes.

   sudo ./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 07 00 01 00


Regards,
Max




2014-02-04 19:01 GMT+08:00 Jeroen Van den Keybus <
jeroen.vandenkeybus at gmail.com>:

> 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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