[etherlab-users] Ethercat/ProfiNet - add correct slave configuration to program
Carlos Herkt
ch at lessmueller.de
Wed Sep 10 18:26:40 CEST 2014
Ok, we got it running:
We had to convert the CoE strings manually to a char array and pass it
to the ecrt_slave_config_complete_sdo().
Strangely it didn't work directly with the strToCharArray function, but
we used it to generate the char arrays. See source attached.
Snippet of our modified and working main.c:
/* EL6631 Master */
if (!(sc = ecrt_master_slave_config(master, ProfiNetPos,
ProfiNetTerm))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
unsigned char pn_config_buf0[] =
{0x0F, 0x00, 0x01, 0x00, 0x65, 0x6C, 0x36, 0x36, 0x33, 0x31, 0x2D, 0x70,
0x6E, 0x63, 0x6F, 0x6E, 0x74, 0x72, 0x6F, 0x6C, 0x6C, 0x65,
0x72, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x25, 0x00, 0x20, 0x01, 0x60, 0xEA,
0x48, 0xEE, 0xC0, 0xA8, 0x01, 0x01, 0xFF, 0xFF, 0xFF, 0x00, 0xC0, 0xA8,
0x01, 0x01, 0xC0, 0xA8, 0xB2, 0xFD, 0x05, 0x01, 0xFF, 0xFF, 0x00, 0x00,
0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
unsigned char pn_config_buf1[] = {0x02, 0x00, 0xC0, 0xA8, 0xB2, 0xFD,
0x01, 0x01, 0x22, 0x03};
unsigned char pn_config_buf2[] =
{0x3A, 0x00, 0x63, 0x69, 0x66, 0x78, 0x72, 0x65, 0x70, 0x6E, 0x73, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x03, 0x01, 0x4C, 0x02, 0x00, 0x00, 0x08, 0x10, 0xC0, 0xA8,
0xB2, 0xFD, 0x05, 0x01, 0x20, 0x00, 0x01, 0x00, 0xC0, 0xA8, 0x01, 0x09,
0xFF, 0xFF, 0xFF, 0x00, 0xC0, 0xA8, 0x01, 0x01, 0x00, 0xC0, 0x01, 0x00,
0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x05, 0x00, 0x08, 0x00,
0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x20, 0x00, 0x04, 0x00,
0x01, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
unsigned char pn_config_buf3[] =
{0x78, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x01,
0x11, 0x00, 0x00, 0x01, 0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x05, 0x03, 0x24, 0x09, 0x80,
0x00, 0x32, 0x00, 0xE8, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x80, 0x01,
0x11, 0x00, 0x00, 0x02, 0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x00, 0x54, 0x01, 0x5C, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x80, 0x01, 0x11, 0x00, 0x00, 0x03,
0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02,
0x00, 0x04, 0x00, 0x54, 0x01, 0x5C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x01, 0x00, 0x01, 0x11, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0x08, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01,
0x00, 0x11, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x14, 0x00, 0x00, 0x00, 0x04, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x01, 0x00, 0x11,
0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x14,
0x00, 0x00, 0x00, 0x05, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x01, 0x00, 0x10, 0x00, 0x00,
0x00, 0x0F, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x06, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x06, 0x00, 0x01, 0x00, 0x10, 0x00, 0x00, 0x00, 0x0F,
0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07,
0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
ecrt_slave_config_complete_sdo(sc, 0xf800, pn_config_buf0,
sizeof(pn_config_buf0));
ecrt_slave_config_complete_sdo(sc, 0xf820, pn_config_buf1,
sizeof(pn_config_buf1));
ecrt_slave_config_complete_sdo(sc, 0x8000, pn_config_buf2,
sizeof(pn_config_buf2));
ecrt_slave_config_complete_sdo(sc, 0x8002, pn_config_buf3,
sizeof(pn_config_buf3));
With best regards
Carlos Herkt
Am 10.09.2014 15:25, schrieb Richard Hacker:
> I am not sure where the problem is. Where did you get this CoE
> configuration from? Where did you get the PDO's from?
>
> Increase the debugging:
> # ethercat debug 1
>
> or even
> # ethercat debug 2
> if you're brave in another step.
>
> Am 2014-09-10 14:15, schrieb Carlos Herkt:
>> Hello Richard,
>>
>> thank you for your quick repsonse and your advice.
>>
>> We modified our program to fit your remarks, but the
>> ecrt_slave_config_complete_sdo(...) function fails with the error
>> "Failed to configure SDO: Invalid argument" and a return code smaller
>> than zero.
>> Also some errors appear in dmesq log:
>> [ +0,359596] EtherCAT ERROR 0-4: SDO upload 0x1600:00 aborted.
>> [ +0,000010] EtherCAT ERROR 0-4: SDO abort message 0x06020000: "This
>> object does not exist in the object directory".
>> [ +0,000005] EtherCAT ERROR 0-4: Failed to read number of mapped PDO
>> entries.
>> [ +0,000005] EtherCAT WARNING 0-4: Failed to read PDO entries for PDO
>> 0x1600.
>>
>> After starting the program, the "Run" led of the EL6631 stays green, the
>> "Pn Run/Err" keeps blinking green and the "Pn Err" is off.
>>
>> What am I missing?
>> Attached you find the whole C program source code, dmesg log, output of
>> the program and the XML definitions exported from TwinCAT.
>>
>> Best regards,
>> Carlos Herkt
>>
>> Am 10.09.2014 09:16, schrieb Richard Hacker:
>>> I don't see you using pn_config_master_0xf800 et al. anywhere in your
>>> proggie! Besides you're missing CoE 0x8002.
>>>
>>> Mit freundlichem Gruß
>>>
>>> Richard Hacker
>>>
>>
>>
>>
>> _______________________________________________
>> etherlab-users mailing list
>> etherlab-users at etherlab.org
>> http://lists.etherlab.org/mailman/listinfo/etherlab-users
>>
-------------- next part --------------
#include <stdio.h>
#include <string.h>
#include <unistd.h>
unsigned int strToCharArray(const char *str,unsigned char *buffer) {
unsigned int i;
unsigned char byteVal;
size_t size = strlen(str);
for (i = 0; i < size; i++) {
sscanf(str, "%2X", &byteVal);
str += 2;
buffer[i] = (unsigned char) byteVal;
}
return (size / 2);
}
int main() {
const char *pb_config_slave_0x8000 = "2d0002000000000000000000000088010000f4f0000000000c02000000008801140b0b69008000000000a797";
unsigned char pb_buf[1024];
unsigned int i;
// convert
unsigned int size = strToCharArray(pb_config_slave_0x8000, pb_buf);
printf("size: %d\n", size);
// print the array
printf("{");
for (i=0;i<size; i++) {
printf("0x%02X, ", pb_buf[i]);
}
printf("\b\b}\n");
return 0;
}
More information about the Etherlab-users
mailing list