[etherlab-users] Failed to register PDO entry: No such file or directory

[Gavin Lambert]

Registering 0x6000:11 doesn’t work because the actual value is at 0x6000:0x11.  (Note hex vs. decimal.)

 

Registering 0x6000:2 doesn’t work because the value is not at bit 0, so you have to pass a non-NULL pointer as the final parameter to receive the bit offset of the value, which you must then pass into EC_READ_BIT or similar bit-aware code.

 

From: etherlab-users [mailto:etherlab-users-bounces at etherlab.org] On Behalf Of William Rifenburgh
Sent: Friday, 11 September 2015 18:30
To: etherlab-users at etherlab.org
Subject: [etherlab-users] Failed to register PDO entry: No such file or directory

 

Hello Etherlab experts,

 

I can't register a PDO entry at index 6000:11 that the 'ethercat cstruct' command tells me should be possible for a Beckhoff EL3356-0010:

 

/* Master 0, Slave 2, "EL3356-0010"

 * Vendor ID:       0x00000002

 * Product code:    0x0d1c3052

 * Revision number: 0x0013000a

 */

 

static ec_pdo_entry_info_t EL3356_pdo_entries[] = {

    {0x7000, 0x01, 1}, /* Start calibration */

    {0x7000, 0x02, 1}, /* Disable calibration */

    {0x7000, 0x03, 1}, /* Input freeze */

    {0x7000, 0x04, 1}, /* Sample mode */

    {0x7000, 0x05, 1}, /* Tare */

    {0x0000, 0x00, 11}, /* Gap */

    {0x0000, 0x00, 1}, /* Gap */

    {0x6000, 0x02, 1}, /* Overrange */

    {0x0000, 0x00, 1}, /* Gap */

    {0x6000, 0x04, 1}, /* Data invalid */

    {0x0000, 0x00, 2}, /* Gap */

    {0x6000, 0x07, 1}, /* Error */

    {0x6000, 0x08, 1}, /* Calibration in progress */

    {0x6000, 0x09, 1}, /* Steady state */

    {0x0000, 0x00, 4}, /* Gap */

    {0x1c32, 0x20, 1}, /* Sync error */

    {0x0000, 0x00, 1}, /* Gap */

    {0x1800, 0x09, 1},

    {0x6000, 0x11, 32}, /* Value */

};

 

static ec_pdo_info_t EL3356_pdos[] = {

    {0x1600, 6, EL3356_pdo_entries + 0}, /* RMB RxPDO-Map Control */

    {0x1a00, 12, EL3356_pdo_entries + 6}, /* RMB TxPDO-Map Status */

    {0x1a01, 1, EL3356_pdo_entries + 18}, /* RMB TxPDO-Map Value (INT32) */

};

 

static ec_sync_info_t EL3356_syncs[] = {

    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},

    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},

    {2, EC_DIR_OUTPUT, 1, EL3356_pdos + 0, EC_WD_DISABLE},

    {3, EC_DIR_INPUT, 2, EL3356_pdos + 1, EC_WD_DISABLE},

    {0xff}

};

 

I use the following code to try to register it:

 

 if (!(el3356_ana_in_sc = ecrt_master_slave_config(master, EL3356Pos, Beckhoff_EL3356))) {

        fprintf(stderr, "Failed to get slave configuration.\n");

        return -1;

    }

 

    printf("Attempting to register the pain-in-the-ass PDO entry\n");

    off_el3356_value = ecrt_slave_config_reg_pdo_entry(el3356_ana_in_sc,

            0x6000, 11, domain1, NULL);

    if (off_el3356_value < 0)

          fprintf(stderr, "Failed to register PDO entry 0x6000 0x11.");

        return -1;

 

and I get: 

 

Failed to register PDO entry: No such file or directory

 

When I try 0x6000:02 I get: 

 

PDO entry 0x6000:02 does not byte-align in config 0:2.

 

 

I have triple checked to make sure all fields in my code snippet are correct. How is it still failing to register? Could my SII be corrupted?

 

I have attached full code to this email.

I have also attached the SII.bin and xml output from using etherlab sii_read and xml commands

 

Thanks for the help!

-Will

 

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