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

[Jun Yuan]

Hi 肖佩，

吕序效 <xxlu at rivo-robot.com>  told me once that he had encountered the same
problem as you did with P-0-150. I don't know whether or how he managed to
solve this problem. Ask him and share the solution here afterwards :D

Regards,

袁俊

On 24 October 2014 03:32, 肖佩 <xiaopei_sk at hust.edu.cn> wrote:

> 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[1 8]=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
>
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