[etherlab-users] Problems using Beckhoff EL3162 with Etherlab Simulink blockset - does not switch from PREOP to OP

[Richard Hacker]

Use "el3162" instead of "el3162.m" (without .m). The rest looks fine.

If you like vector output ports, you can use:

PortConfig.output(1).pdo = [3, 0, 0, 0; 3, 1, 0, 0];
PortConfig.output(1).pdo_data_type = 1008;

PortConfig.output(2).pdo = [3, 0, 1, 0; 3, 1, 1, 0];
PortConfig.output(2).pdo_data_type = 1016;

There are even more options, read the help for the generic slave.

- Richard


Am 2015-03-02 11:20, schrieb Sebastian Rehberger:
> Dear Mr. Hacker,
>
> Thank you for your immediate response. Indeed the slave is Revision EL3162-0000-0000 and rather old (2005).
> I generated the .m file with "--skin" option, the modified result is attached below. I simply added the function head.
>
> I tried the generic slave block and added ['el3162.m'] to the Struct Configuration field in the mask.
> However it compiles/checks diagram without error, but the block does not add outputs or changes its mask description in Simulink.
> After running the executable again, the slave stays in PREOP without error flag - so I guess the slave block does not work properly. Have I missed a step?
>
> Besides, I ran a test with CoDeSys where the EL3162 seems running properly.
>
> Kind regards,
> Sebastian Rehberger
>
>
> % Slave configuration
> function rv = el3162()
> rv.SlaveConfig.vendor = 2;
> rv.SlaveConfig.product = hex2dec('0c5a3052');
> rv.SlaveConfig.description = 'EL3162';
> rv.SlaveConfig.sm = { ...
>      {0, 0, {
>          }}, ...
>      {1, 1, {
>          }}, ...
>      {2, 0, {
>          }}, ...
>      {3, 1, {
>          {hex2dec('1a00'), [
>              hex2dec('3101'), hex2dec('01'),   8; ...
>              hex2dec('3101'), hex2dec('02'),  16; ...
>              ]}, ...
>          {hex2dec('1a01'), [
>              hex2dec('3102'), hex2dec('01'),   8; ...
>              hex2dec('3102'), hex2dec('02'),  16; ...
>              ]}, ...
>          }}, ...
>      };
>
> % Port configuration
>
> rv.PortConfig.output(1).pdo = [3, 0, 0, 0];
> rv.PortConfig.output(1).pdo_data_type = 1008;
>
> rv.PortConfig.output(2).pdo = [3, 0, 1, 0];
> rv.PortConfig.output(2).pdo_data_type = 1016;
>
> rv.PortConfig.output(3).pdo = [3, 1, 0, 0];
> rv.PortConfig.output(3).pdo_data_type = 1008;
>
> rv.PortConfig.output(4).pdo = [3, 1, 1, 0];
> rv.PortConfig.output(4).pdo_data_type = 1016;
>
> end
> -----Ursprüngliche Nachricht-----
> Von: Richard Hacker [mailto:ha at igh.de]
> Gesendet: Sonntag, 1. März 2015 20:20
> An: Sebastian Rehberger; etherlab-users at etherlab.org
> Betreff: Re: [etherlab-users] Problems using Beckhoff EL3162 with Etherlab Simulink blockset - does not switch from PREOP to OP
>
> Hi,
>
> you may be using an old version of the slave. What version are you using? (ethercat slave -v -p?)
>
> You will need to use the generic slave in this case. Run the following command ethercat pdos -pX --skin etherlab and save it in el3162.m. Then insert this function for "EtherCAT Slave Configuration struct".
>
> Attached is a function I used for another slave. You may use it for comparison.
>
> - Richard Hacker
>
>
> On 01.03.2015 17:28, Sebastian Rehberger wrote:
>> Hi,
>>
>> We're trying to read analog output signals from a EL3162 input device.
>> The Master is up and running, and other EL1004/EL2004 devices are
>> functioning properly. Also two EL4102 analog output devices are
>> working and behave normally.
>>
>>
>> The EL3162 does not switch from PREOP to SAFEOP or OP, neither by
>> command line ("sudo ./ethercat states -p 9 SAFEOP"), nor during
>> execution of the simulink generated Etherlab application. However,
>> Syslog gives the following debugging information:
>>
>> Mar  1 17:18:50 ubuntu kernel: [ 4960.647334] EtherCAT ERROR 0-9: SDO
>> download 0x8000:06 (1 bytes) aborted.
>>
>> Mar  1 17:18:50 ubuntu kernel: [ 4960.647338] EtherCAT ERROR 0-9: SDO
>> abort message 0x06020000: "This object does not exist in the object
>> directory".
>>
>> Mar  1 17:18:50 ubuntu kernel: [ 4960.647340] EtherCAT ERROR 0-9: SDO
>> configuration failed.
>>
>> In the slave list ("sudo. /ethercat slaves -p 9"), the EL3162
>> immediately sets the error flag after execution of the Simulink application.
>>
>> Has anyone experienced similar problems or may support with further
>> debugging methods?
>>
>> Kind Regards,
>>
>> Sebastian
>>
>>
>>
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