[etherlab-users] Problem with BeckHoff EL4038 Terminal.
Doga
doga1991 at yahoo.com
Mon Apr 13 12:04:38 CEST 2015
I research on the problem a little more and apparently my problem is related to operational state of the beckhoff module. With twincat software there is an option to enable the beckhoff master module. How is this possible with etherLab ?
Thank you.
On Monday, March 30, 2015 12:10 PM, Doga <doga1991 at yahoo.com> wrote:
Output of "ethercat pdos -v" is;
Configuration seems okay. Master and slave IDs of the hardwares attached matche what I see on the terminal screen when inputted the "sudo ethercat slaves" command. One Master and one slave, which is an analog output module with 8 output ports.
=== Master 0, Slave 0 ===
SM0: PhysAddr 0x1000, DefaultSize 0, ControlRegister 0x00, Enable 0
TxPDO 0x1a00 "ID"
PDO entry 0x6000:01, 16 bit, "ID"
=== Master 0, Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 16, ControlRegister 0x24, Enable 1
RxPDO 0x1600 "RxPDO-Map OutputsCh.1"
PDO entry 0x7000:01, 16 bit, "Analog output"
RxPDO 0x1601 "RxPDO-Map OutputsCh.2"
PDO entry 0x7010:01, 16 bit, "Analog output"
RxPDO 0x1602 "RxPDO-Map OutputsCh.3"
PDO entry 0x7020:01, 16 bit, "Analog output"
RxPDO 0x1603 "RxPDO-Map OutputsCh.4"
PDO entry 0x7030:01, 16 bit, "Analog output"
RxPDO 0x1604 "RxPDO-Map OutputsCh.5"
PDO entry 0x7040:01, 16 bit, "Analog output"
RxPDO 0x1605 "RxPDO-Map OutputsCh.6"
PDO entry 0x7050:01, 16 bit, "Analog output"
RxPDO 0x1606 "RxPDO-Map OutputsCh.7"
PDO entry 0x7060:01, 16 bit, "Analog output"
RxPDO 0x1607 "RxPDO-Map OutputsCh.8"
PDO entry 0x7070:01, 16 bit, "Analog output"
SM3: PhysAddr 0x1180, DefaultSize 0, ControlRegister 0x20, Enable 0
On Monday, March 30, 2015 1:12 AM, Richard Hacker <ha at igh.de> wrote:
What is the output of
$ ethercat pdos -v
when ethercat is "fresh", i.e. just started? Does that match your
configuration that you are trying to setup the slave with in your proggie?
- Richard
On 27.03.2015 09:42, Doga wrote:
> Thanks for your reply Richard,
>
> Output of $ ethercat slaves
> when the model is running, is still "PREOP"
>
> Command of
> ethercat config -v -p1
> does not give an output
>
> Output of
> dmesg | tail -100
> as follows;
>
> [ 8.851927] input: HDA Intel Rear Mic as
> /devices/pci0000:00/0000:00:1b.0/sound/card0/input7
> [ 8.853677] input: HDA Intel Front Headphone as
> /devices/pci0000:00/0000:00:1b.0/sound/card0/input8
> [ 8.855195] input: HDA Intel Line Out as
> /devices/pci0000:00/0000:00:1b.0/sound/card0/input9
> [ 8.973988] input: HP WMI hotkeys as /devices/virtual/input/input10
> [ 9.060136] systemd-udevd[330]: renamed network interface eth0 to enp31s0
> [ 9.080176] systemd-udevd[331]: renamed network interface eth1 to enp34s0
> [ 9.100173] systemd-udevd[338]: renamed network interface eth2 to enp35s0
> [ 9.152110] microcode: CPU1 sig=0x6fb, pf=0x4, revision=0xbc
> [ 9.173855] microcode: CPU2 sig=0x6f6, pf=0x4, revision=0xd2
> [ 9.219455] microcode: CPU3 sig=0x6fb, pf=0x4, revision=0xbc
> [ 9.223051] microcode: Microcode Update Driver: v2.00
> <tigran at aivazian.fsnet.co.uk>, Peter Oruba
> [ 11.864566] EXT4-fs (sdb4): mounted filesystem with ordered data
> mode. Opts: acl,user_xattr
> [ 12.062315] Adding 4192252k swap on /dev/sdb6. Priority:-1 extents:1
> across:4192252k
> [ 12.096565] systemd-journald[278]: Received request to flush runtime
> journal from PID 1
> [ 12.711769] fuse init (API version 7.18)
> [ 13.506191] ip6_tables: (C) 2000-2006 Netfilter Core Team
> [ 13.526547] nf_conntrack version 0.5.0 (16384 buckets, 65536 max)
> [ 13.529874] ip_tables: (C) 2000-2006 Netfilter Core Team
> [ 15.055590] e1000e 0000:22:00.0: irq 43 for MSI/MSI-X
> [ 15.161944] e1000e 0000:22:00.0: irq 43 for MSI/MSI-X
> [ 15.164101] ADDRCONF(NETDEV_UP): enp34s0: link is not ready
> [ 15.630779] e1000e 0000:23:00.0: irq 44 for MSI/MSI-X
> [ 15.733936] e1000e 0000:23:00.0: irq 44 for MSI/MSI-X
> [ 15.736198] ADDRCONF(NETDEV_UP): enp35s0: link is not ready
> [ 15.742290] tg3 0000:1f:00.0: irq 46 for MSI/MSI-X
> [ 15.777051] ADDRCONF(NETDEV_UP): enp31s0: link is not ready
> [ 15.808271] Bluetooth: Core ver 2.16
> [ 15.808296] NET: Registered protocol family 31
> [ 15.808298] Bluetooth: HCI device and connection manager initialized
> [ 15.808301] Bluetooth: HCI socket layer initialized
> [ 15.808303] Bluetooth: L2CAP socket layer initialized
> [ 15.808314] Bluetooth: SCO socket layer initialized
> [ 15.810786] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
> [ 15.810789] Bluetooth: BNEP filters: protocol multicast
> [ 17.360848] tg3 0000:1f:00.0: enp31s0: Link is up at 100 Mbps, full
> duplex
> [ 17.360853] tg3 0000:1f:00.0: enp31s0: Flow control is off for TX and
> off for RX
> [ 17.361311] ADDRCONF(NETDEV_CHANGE): enp31s0: link becomes ready
> [ 17.537042] e1000e: enp35s0 NIC Link is Up 100 Mbps Full Duplex, Flow
> Control: None
> [ 17.537048] e1000e 0000:23:00.0: enp35s0: 10/100 speed: disabling TSO
> [ 17.537667] ADDRCONF(NETDEV_CHANGE): enp35s0: link becomes ready
> [ 19.053595] NET: Registered protocol family 17
> [ 20.853309] IPv4: martian source 255.255.255.255 from 10.92.54.159,
> on dev enp31s0
> [ 20.853316] ll header: 00000000: ff ff ff ff ff ff 80 ee 73 0a fb 5d
> 08 00 ........s..]..
> [ 20.917133] IPv4: martian source 255.255.255.255 from 10.92.54.135,
> on dev enp31s0
> [ 20.917138] ll header: 00000000: ff ff ff ff ff ff b4 b5 2f 8e 91 d1
> 08 00 ......../.....
> [ 20.919177] IPv4: martian source 255.255.255.255 from 10.92.54.135,
> on dev enp31s0
> [ 20.919180] ll header: 00000000: ff ff ff ff ff ff b4 b5 2f 8e 91 d1
> 08 00 ......../.....
> [ 20.919257] IPv4: martian source 255.255.255.255 from 10.92.54.135,
> on dev enp31s0
> [ 20.919260] ll header: 00000000: ff ff ff ff ff ff b4 b5 2f 8e 91 d1
> 08 00 ......../.....
> [ 21.066318] IPv4: martian source 255.255.255.255 from 10.92.54.253,
> on dev enp31s0
> [ 21.066325] ll header: 00000000: ff ff ff ff ff ff 24 be 05 20 e0 66
> 08 00 ......$.. .f..
> [ 21.656897] IPv4: martian source 255.255.255.255 from 10.92.54.36, on
> dev enp31s0
> [ 21.656905] ll header: 00000000: ff ff ff ff ff ff d8 d3 85 95 b5 0f
> 08 00 ..............
> [ 21.658937] IPv4: martian source 255.255.255.255 from 10.92.54.36, on
> dev enp31s0
> [ 21.658941] ll header: 00000000: ff ff ff ff ff ff d8 d3 85 95 b5 0f
> 08 00 ..............
> [ 22.032341] IPv4: martian source 255.255.255.255 from 10.92.54.159,
> on dev enp31s0
> [ 22.032348] ll header: 00000000: ff ff ff ff ff ff 80 ee 73 0a fb 5d
> 08 00 ........s..]..
> [ 23.112376] IPv4: martian source 255.255.255.255 from 10.92.54.159,
> on dev enp31s0
> [ 23.112383] ll header: 00000000: ff ff ff ff ff ff 80 ee 73 0a fb 5d
> 08 00 ........s..]..
> [ 23.295294] IPv4: martian source 255.255.255.255 from 10.92.53.162,
> on dev enp31s0
> [ 23.295301] ll header: 00000000: ff ff ff ff ff ff 00 23 7d 2d cb cf
> 08 00 .......#}-....
> [ 29.152007] enp31s0: no IPv6 routers present
> [ 29.880008] enp35s0: no IPv6 routers present
> [ 66.877536] EtherCAT: Master driver 1.5.2 2eff7c993a63
> [ 66.877659] EtherCAT: 1 master waiting for devices.
> [ 67.216469] ec_e1000e: EtherCAT-capable Intel(R) PRO/1000 Network
> Driver - 1.9.5-k-EtherCAT
> [ 67.216473] ec_e1000e: Copyright(c) 1999 - 2012 Intel Corporation.
> [ 67.216565] ec_e1000e 0000:22:00.0: Disabling ASPM L0s L1
> [ 67.218986] ec_e1000e 0000:22:00.0: (unregistered net_device):
> Interrupt Throttling Rate (ints/sec) set to dynamic conservative mode
> [ 67.220666] ec_e1000e 0000:22:00.0: (unregistered net_device): Failed
> to initialize MSI-X interrupts. Falling back to MSI interrupts.
> [ 67.222280] ec_e1000e 0000:22:00.0: irq 43 for MSI/MSI-X
> [ 67.340477] ec_e1000e 0000:22:00.0: eth0: (PCI Express:2.5GT/s:Width
> x1) 00:01:05:1b:43:2c
> [ 67.340482] ec_e1000e 0000:22:00.0: eth0: Intel(R) PRO/1000 Network
> Connection
> [ 67.341000] ec_e1000e 0000:22:00.0: eth0: MAC: 3, PHY: 8, PBA No:
> FFFFFF-0FF
> [ 67.341021] ec_e1000e 0000:23:00.0: Disabling ASPM L0s L1
> [ 67.346016] ec_e1000e 0000:23:00.0: (unregistered net_device):
> Interrupt Throttling Rate (ints/sec) set to dynamic conservative mode
> [ 67.348550] ec_e1000e 0000:23:00.0: (unregistered net_device): Failed
> to initialize MSI-X interrupts. Falling back to MSI interrupts.
> [ 67.351785] ec_e1000e 0000:23:00.0: irq 44 for MSI/MSI-X
> [ 67.432131] systemd-udevd[1407]: renamed network interface eth0 to
> enp34s0
> [ 67.477063] EtherCAT: Accepting 00:01:05:1B:43:2D as main device for
> master 0.
> [ 67.600237] EtherCAT 0: Starting EtherCAT-IDLE thread.
> [ 67.600295] ec_e1000e 0000:23:00.0: (unregistered net_device): (PCI
> Express:2.5GT/s:Width x1) 00:01:05:1b:43:2d
> [ 67.600299] ec_e1000e 0000:23:00.0: (unregistered net_device):
> Intel(R) PRO/1000 Network Connection
> [ 67.600461] ec_e1000e 0000:23:00.0: (unregistered net_device): MAC:
> 3, PHY: 8, PBA No: FFFFFF-0FF
> [ 67.614797] ec_e1000e 0000:22:00.0: irq 43 for MSI/MSI-X
> [ 67.717956] ec_e1000e 0000:22:00.0: irq 43 for MSI/MSI-X
> [ 67.720152] ADDRCONF(NETDEV_UP): enp34s0: link is not ready
> [ 69.477043] e1000e: ecm0 NIC Link is Up 100 Mbps Full Duplex, Flow
> Control: None
> [ 69.477050] ec_e1000e 0000:23:00.0: (unregistered net_device): 10/100
> speed: disabling TSO
> [ 69.477055] EtherCAT 0: Link state of ecm0 changed to UP.
> [ 69.480019] EtherCAT 0: 2 slave(s) responding on main device.
> [ 69.480023] EtherCAT 0: Slave states on main device: INIT.
> [ 69.480236] EtherCAT 0: Scanning bus.
> [ 69.706145] EtherCAT ERROR 0-1: SDO upload 0x1C13:01 aborted.
> [ 69.706149] EtherCAT ERROR 0-1: SDO abort message 0x06090011:
> "Subindex does not exist".
> [ 69.706152] EtherCAT ERROR 0-1: Failed to read index of assigned PDO
> 1 from SM3.
> [ 69.706155] EtherCAT 0: Bus scanning completed in 224 ms.
> [ 69.706158] EtherCAT 0: Using slave 0 as DC reference clock.
> [ 69.708018] EtherCAT 0: Slave states on main device: INIT, PREOP.
> [ 69.720015] EtherCAT 0: Slave states on main device: PREOP.
>
> Thank you.
> Best.
>
>
>
>
>
> On Friday, March 27, 2015 9:13 AM, Richard Hacker <ha at igh.de> wrote:
>
>
> Look at the output of
> $ ethercat slaves
> The slave should be in OP when your model is running
>
> What does your kernel log say:
> $ cat /var/log/messages
> or
> $ dmesg | tail -100
>
> What is the current configuration while running:
> $ ethercat config -v -p1
>
>
> - Richard
>
> On 26.03.2015 17:17, Doga wrote:
> > Hey everyone,
> >
> > I'm working on OpenSUSE 13.1 x64 with MATLAB R2014b.
> >
> > I have installed and configured everything in accordance with the
> > following guideline;
> >
> > http://www.symbitron.eu/wiki/index.php?title=EtherLab_Installation
> > <http://www.symbitron.eu/wiki/index.php?title=EtherLab_Installation>
> >
> > In the Terminal screen when I type "sudo ethercat slaves" to reveal the
> > connected hardwares, I get the following response, which is what I
> expect;
> >
> > 0 0:0 PREOP + EK1101 EtherCAT-Koppler (2A E-Bus, ID-Switch)
> > 1 0:1 PREOP + EL4038 8K. Ana. Ausgang +/-10V, 12bit
> >
> > So, my master module is BeckHoff EK 1101 and its master id is 0 and
> > slave id is also 0. Likewise another module connected to EK1101, which
> > is an analog output module named EL4038, has the master id of 0 and
> > slave id of 1
> >
> > I have created a simulink file. Configured everything according to above
> > mentioned guideline, such as code generation options and other things.
> >
> > I have EK1101 infrastructure module on my model, which was provided in
> > the etherlab_lib. I also copied the EL4002 analog I/O module from the
> > same library to my simulink file and configured it as EL4038 from
> > "Device Model" option.
> >
> > I set the master and slave indexes of both models accordingly.
> > I connected a "Constant" block, which outputs value of "1" and this is
> > connected to input port of EL4038 module.
> > When I build the model, there is no error or something. When I run the
> > model, it runs. However I do not read any voltage on the EL4038 module's
> > output pin when I measure it with a multimeter.
> >
> > Under help section of EL4xxx module it is written that the maximum input
> > ranges from -1 to 1 for bipolar terminals. Any value over the range is
> > saturated. However, I get no voltage from my analog output module at all.
> >
> > I appreciate any kind of help.
> > All the best.
>
> >
> >
> >
> > _______________________________________________
> > etherlab-users mailing list
> > etherlab-users at etherlab.org <mailto:etherlab-users at etherlab.org>
> > http://lists.etherlab.org/mailman/listinfo/etherlab-users
> >
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