[etherlab-users] Initializing CanOpen Master Module EL6751-0010
David Jiménez Mejías
david.jimenez at gtc.iac.es
Wed Nov 18 18:13:54 CET 2015
Hi again Richard,
I was working on this topic this week, following the indication from the
link I get to a new scenario, I tell you:
I've imported from TwinCAT XML the data of the diferents SDO entries. (XML
appended on this email).
I get to write the config SDO entries [0x1212, 0x1C13, 0xF800, 0x8000], I
could check the correct configuration with etchercat tool (./ethercat upload
...):
# sudo ./ethercat upload -p4 -t uint16 0x8000 1
> 0x0007 7 // This is the correct Can Slave Node ID (0x0000 by
default)
# sudo ./ethercat upload -p4 -t uint8 0xF800 2
> 0x03 3 // This is the correct Baudratre configuration (0x02
by default)
But the EL6751 can't pass to OP, it keeps on PREOP+ERROR (Code appended on
this email).
This is the dmesg output:
[ 4055.253520] EtherCAT 0: Releasing master...
[ 4055.253529] EtherCAT 0: Master thread exited.
[ 4055.253539] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 4055.253561] EtherCAT 0: Released.
[ 4057.131180] EtherCAT: Requesting master 0...
[ 4057.131184] EtherCAT: Successfully requested master 0.
[ 4057.131375] EtherCAT 0: Domain0: Logical address 0x00000000, 22 byte,
expected working counter 8.
[ 4057.131377] EtherCAT 0: Datagram domain0-0-main: Logical offset
0x00000000, 22 byte, type LRW.
[ 4057.131389] EtherCAT 0: Master thread exited.
[ 4057.131391] EtherCAT 0: Starting EtherCAT-OP thread.
[ 4057.131453] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 4057.133102] EtherCAT WARNING 0: No app_time received up to now, but
master already active.
[ 4060.034303] EtherCAT 0: Domain 0: Working counter changed to 2/8.
[ 4061.835479] EtherCAT 0: Domain 0: Working counter changed to 3/8.
[ 4063.336336] EtherCAT 0: Domain 0: Working counter changed to 5/8.
[ 4065.637736] EtherCAT ERROR 0-4: SDO upload 0x1A00:00 aborted.
[ 4065.637740] EtherCAT ERROR 0-4: SDO abort message 0x06020000: "This
object does not exist in the object directory".
[ 4065.637742] EtherCAT ERROR 0-4: Failed to read number of mapped PDO
entries.
[ 4065.637743] EtherCAT WARNING 0-4: Failed to read PDO entries for PDO
0x1A00.
[ 4065.637745] EtherCAT WARNING 0-4: Slave does not support changing the PDO
mapping!
[ 4065.637746] EtherCAT WARNING 0-4: Currently mapped PDO entries: (none).
Entries to map: 0x6000:01/8
[ 4065.637750] EtherCAT WARNING 0-4: Slave does not support assigning PDOs!
[ 4065.637750] EtherCAT WARNING 0-4: Currently assigned PDOs: (none). PDOs
to assign: 0x1A00
[ 4066.037976] EtherCAT ERROR 0-4: SDO upload 0x1600:00 aborted.
[ 4066.037981] EtherCAT ERROR 0-4: SDO abort message 0x06020000: "This
object does not exist in the object directory".
[ 4066.037982] EtherCAT ERROR 0-4: Failed to read number of mapped PDO
entries.
[ 4066.037984] EtherCAT WARNING 0-4: Failed to read PDO entries for PDO
0x1600.
[ 4066.037985] EtherCAT WARNING 0-4: Slave does not support changing the PDO
mapping!
[ 4066.037986] EtherCAT WARNING 0-4: Currently mapped PDO entries: (none).
Entries to map: 0x7000:01/32
[ 4071.841620] EtherCAT WARNING 0-4: Slave does not support changing the PDO
mapping!
[ 4071.841627] EtherCAT WARNING 0-4: Currently mapped PDO entries:
0xF102:01/8 0xF101:03/8 0xF108:01/1 0xF108:02/1 0xF108:03/1 0x0000:00/1
0xF108:05/1 0xF108:06/1 0x0000:00/2 0x0000:00/8 0xF108:21/8 0xF108:22/8
0xF101:14/1 0xF103:01/1 0x0000:00/6. Entries to map: 0xA000:01/8 0xF100:01/8
0xF100:03/16 0xF100:05/8 0xF100:04/8 0xF100:02/1 0xA000:02/1
[ 4071.841656] EtherCAT WARNING 0-4: Slave does not support assigning PDOs!
[ 4071.841658] EtherCAT WARNING 0-4: Currently assigned PDOs: (none). PDOs
to assign: 0x1600 0x1A80
[ 4072.241802] EtherCAT 0: Domain 0: Working counter changed to 7/8.
[ 4072.341869] EtherCAT ERROR 0-4: Failed to set SAFEOP state, slave refused
state change (PREOP + ERROR).
[ 4072.541984] EtherCAT ERROR 0-4: AL status message 0x001E: "Invalid input
configuration".
[ 4072.742107] EtherCAT 0-4: Acknowledged state PREOP.
[ 4073.142357] EtherCAT WARNING 0-4: CoE Emergency Request received:
[ 4073.142360] EtherCAT DEBUG: 0E 07 10 07 10
Could you tell me some tip that make me know how to get the EL6751
Operational with its Can-Slave working?
Thank you in advance
Best regards
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-
David Jiménez Mejías - Gran Telescopio de Canarias S.A
Ingeniero de Operación / Operation Engineer
-----Original Message-----
From: Richard Hacker <ha at igh.de>
To: "etherlab-users at etherlab.org" <etherlab-users at etherlab.org>
Cc: David Jiménez Mejías <david.jimenez at gtc.iac.es>
Date: Wed, 28 Oct 2015 11:37:26 +0100
Subject: Re: [etherlab-users] Initializing CanOpen Master Module EL6751-0010
Hi David,
Communication slaves are very(!) difficult to handle, because they are
configured by means of SDO's. We are not aware of a free tool that can
be used to cofigure them.
They must be configured using TwinCAT(2). A trial version is available
free of charge from Beckhoff. This can be used to configure the slave.
Have a look at:
http://lists.etherlab.org/pipermail/etherlab-users/2012/001860.html
Search the mailing list for EL6731 or EL6751.
- Richard
BTW: I cannot find EL6710! CANopen master is EL6751. And besides, -0010
is usually the slave and not the master! Check carefully what you have.
In case of a slave, select it in the TwinCAT Project, instead of the
master, before "Export configuration XML".
------------------------------------------------------------------------
On 28.10.2015 11:13, David Jiménez Mejías wrote:
> Hello,
> I just trying to configure a CanOpen Network with a CanOpen Master
> Module EL6710-0010 (Beckhoff), and get some doubts and issues.
> I proceed just the module infosys website indicates, I did the next steps:
> - Configure the BaudRate SDO:
> # ./ethercat download -p4 -t uint8 0xF800 2 3 (250KBauds)
> - Request a Detect Module Command
> # ./ethercat download -p4 -t uint16 0xF002 1 0x11
> -> At this step I need to write "something" to a octet_string[2]
> entry, with this format the requested commando doesn work, I do it using
> a uint16. Does someone know which octet is the expected?
> - After the request command I observe the percent counter process:
> # ./ethercat upload -p4 -t uint8 0xF002 2
> 0x80 128
> # ./ethercat upload -p4 -t uint8 0xF002 2
> 0x95 149
> - Until it keeps on value 0x01:
> # ./ethercat upload -p4 -t uint8 0xF002 2
> 0x01 1
> - It means, reading at infosys, that: "Command ended without error,
> response data in SubIndex 3", then I tried read the octet_string[n]
> directly from the terminal, but it can't be possible, then I do:
> # ./ethercat upload -p4 -t octet_string 0xF002 3 > ~/prescan.out
> - This output file is:
> 00000000 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> ................
> 00000010 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> ................
> 00000020 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> ................
> 00000030 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> ................
> 00000040 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> ................
> 00000050 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> ................
> -> The first octet_couple correspond with the infosys website
> detail, al the next is 0.
> - I tried to repeat the request command but I get the next error:
> # ./ethercat download -p4 -t octet_string 0xF002 1 0x22
> SDO transfer aborted with code 0x08000021: Data cannot be transferred or
> stored to the application because of local control
> This is the point where i'm get stacked.
> Is there some one that have some experience with this type of modules?
> Thank you very much
> Best regards
>
> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
> - - -
> *David Jiménez Mejías -* Gran Telescopio de Canarias S.A
> /Ingeniero de Operación / Operation Engineer/
>
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