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

Wed Mar 12 13:52:26 CET 2014

Hello Ronaldo,

glad to hear that you have your problem resolved.

Generally, you can refer to the XML Device Description file from Beckhoff
to check whether a object can be mapped into pdo entry (looking for the tag
<PdoMapping>), and whether the RxPDO or TxPDO mapping can be changed
(attribute Fixed="1" means not changeable)

Regards,
Jun

On Wed, Mar 12, 2014 at 1:12 PM, <ronaldo.mercado at diamond.ac.uk> wrote:

>  Hello again and thanks to Jun for pointing me in the right direction.
>
>
>
> I changed the second set of PDO mappings to one entry only {0x7000, 0x11,
> 16} and the slave accepted to go into “OP”.
>
>
>
> Ronaldo
>
>
>
> *From:* ronaldo.mercado at diamond.ac.uk [mailto:
> ronaldo.mercado at diamond.ac.uk]
> *Sent:* 12 March 2014 11:14
> *To:* j.yuan at rtleaders.com
>
> *Cc:* etherlab-users at etherlab.org
> *Subject:* Re: [etherlab-users] Beckhoff EL2595 AL status message 0x001E:
> "Invalid input configuration"
>
>
>
> 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 <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> 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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> --
> Jun Yuan
> [Aussprache: Djün Üän]
>
> Robotics Technology Leaders GmbH
> Am Loferfeld 58, D-81249 München
> Tel: +49 89 189 0465 24
> Fax: +49 89 189 0465 11
> mailto: j.yuan at rtleaders.com
>
> Umlautregel in der chinesischen Lautschrift Pinyin: Nach den Anlauten y,
> j, q, und x wird u als ü ausgesprochen, z.B. yu => ü,  ju => dschü,  qu =>
> tschü,  xu => schü.
>

-- 
Jun Yuan
[Aussprache: Djün Üän]

Robotics Technology Leaders GmbH
Am Loferfeld 58, D-81249 München
Tel: +49 89 189 0465 24
Fax: +49 89 189 0465 11
mailto: j.yuan at rtleaders.com

Umlautregel in der chinesischen Lautschrift Pinyin: Nach den Anlauten y, j,
q, und x wird u als ü ausgesprochen, z.B. yu => ü,  ju => dschü,  qu =>
tschü,  xu => schü.
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