[etherlab-users] Beckhoff EL2595 AL status message 0x001E: "Invalid input configuration"

[ronaldo.mercado at diamond.ac.uk]

Hi Jun and thanks for the reply.

The messages with your suggested change modify the resulting error to "Invalid output configuration", but the slave still refuses to switch to “OP”.

Ronaldo

Mar 12 11:02:38 pc0074 kernel: EtherCAT: Requesting master 0...
Mar 12 11:02:38 pc0074 kernel: EtherCAT: Successfully requested master 0.
Mar 12 11:02:38 pc0074 kernel: EtherCAT 0: Domain0: Logical address 0x00000000, 12 byte, expected working counter 1.
Mar 12 11:02:38 pc0074 kernel: EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 12 byte, type LWR.
Mar 12 11:02:38 pc0074 kernel: EtherCAT 0: Master thread exited.
Mar 12 11:02:38 pc0074 kernel: EtherCAT 0: Starting EtherCAT-OP thread.
Mar 12 11:02:38 pc0074 kernel: EtherCAT WARNING 0: 1 datagram UNMATCHED!
Mar 12 11:02:38 pc0074 kernel: EtherCAT WARNING 0: No app_time received up to now, but master already active.
Mar 12 11:02:39 pc0074 kernel: EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
Mar 12 11:02:39 pc0074 kernel: EtherCAT ERROR 0-1: AL status message 0x001D: "Invalid output configuration".
Mar 12 11:02:39 pc0074 kernel: EtherCAT 0-1: Acknowledged state PREOP.
Mar 12 11:02:39 pc0074 kernel: EtherCAT 0: Slave states on main device: PREOP, OP.
Mar 12 11:03:40 pc0074 kernel: EtherCAT 0: Releasing master...

From: Jun Yuan [mailto:j.yuan at rtleaders.com]
Sent: 12 March 2014 09:24
To: Mercado, Ronaldo (DLSLtd,RAL,TEC)
Cc: etherlab-users at etherlab.org
Subject: Re: [etherlab-users] Beckhoff EL2595 AL status message 0x001E: "Invalid input configuration"

Hello ronaldo,
@@ -73,7 +73,7 @@
ec_sync_info_t slave_1_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 2, slave_1_pdos + 0, EC_WD_DISABLE},
-   {3, EC_DIR_INPUT, 1, slave_1_pdos + 1, EC_WD_DISABLE},
+   {3, EC_DIR_INPUT, 1, slave_1_pdos + 2, EC_WD_DISABLE},
    {0xff}
};
To avoid such a mistake, it would be better to seperate the rxpdo and txpdo, using slave_1_rxpdos[] and slave_1_txpdos[] instead of only one slave_1_pdos[]
Regards,
Jun


On Tue, Mar 11, 2014 at 7:13 PM, <ronaldo.mercado at diamond.ac.uk<mailto:ronaldo.mercado at diamond.ac.uk>> wrote:
Hello,

I am struggling with the control the constant current output slave EL2595.

The unit provides a few PDOs by default, to control the on/off
state. I wish to control the current output, (I believe at address 0x7000:11
"Output Current"). This should allow a slider to control the dimming of
an LED. This is not on the default PDO set.

I know it's supported because it was demonstrated with TwinCAT. TwinCAT
adds it to sync manager 2 with a check box.

My attempt with the attached c source program fails to set the slave
in the "OP" state, and the messages report "Invalid input
configuration".

Could you suggest what to do differently?
How do I add the PDO for the current control to the slave?

Thanks,

Ronaldo






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