[etherlab-users] Problems on config Beckhoff AX5206 using ethercat master 1.5.2

[肖佩]

Hi All,


   Now I try to use (Igh ethercat master 1.5.2 + xenomai 3.2)to drive AX5206.  I exported the startup config from TwinCAT, and stored them into the master using ecrt_slave_config_idn, then I activated the master, config IDNs downloaded to driver. Other IDNs were successfully configured, but P-0-0150 failed. 

I use Twincat to get the IDN P-0-150 configuration data:

E0 00 E0 00 02 00 00 00 48 65 69 64 23 45 51 4E 31 33 32 35 2D 35 31 32 53 2D 35 56 2D 45 32 2E 31 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 52 03 03 00 00 00 00 00 00 00 01 00 03 00 00 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 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 03 00 00 00 00 00 0D 00 0C 00 0D 00 0C 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 00 00 00 00 00 00 00 00 C8 00 C8 00 73 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

and this is 228 bytes.

and then I use ecrt_slave_config_idn()to config IDN P-0-150 as follow:

 memset(data, 0, 228);
      data[0]=0xE0; data[2]=0xE0; data[4]=0x02; data[8]=0x48; data[9]=0x65;
      data[10]=0x69; data[11]=0x64; data[12]=0x23; data[13]=0x45; data[14]=0x51;
     data[15]=0x4E; data[16]=0x31; data[17]=0x33; data[18]=0x32; data[19]=0x35;
     data[20]=0x2D; data[21]=0x35; data[22]=0x31; data[23]=0x32; data[24]=0x53;
      data[25]=0x2D; data[26]=0x35; data[27]=0x56; data[28]=0x2D; data[29]=0x45;
       data[30]=0x32; data[31]=0x2E; data[32]=0x31; data[48]=0x02; data[50]=0x52;
      data[51]=0x03; data[52]=0x03; data[60]=0x01; data[62]=0x03;
       data[69]=0x02; data[108]=0x02; data[110]=0x03; data[116]=0x0D; data[118]=0x0C;
      data[120]=0x0D; data[122]=0x0C; data[200]=0xC8; data[202]=0xC8; data[204]=0x73;


       ecrt_slave_config_idn(sc, 0, 0x8096, EC_AL_STATE_PREOP, data, 228);    //idnp150

 

 I use wireshark to capture the datagrams during the configuration, and find P-0-150 just send the first fragment(118 bytes). And the master didn't send the second fragment because the SM1's state register is 0x00.   I don't know what's the problems is?  Could you offer some help?


Best regards
Xiao Pei
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20141024/d94b57f3/attachment-0002.htm>