[etherlab-users] TI ICEv2 on IgH master

[Frank, Matthias]

Hi folks,

I tried to use the Texas Instruments ICEv2 Board with the IgH-Master and I had some trouble with SDO read/write in PREOP. These steps I had proceed with the latest TI prebuild app for the ICEv2 Board:

1.    Start the ICE with the prebuild EtherCAT Demo application V3.3.0

a.     it is connected to IGH 1.5.2

b.    there is only one slave device

2.    reading sdos. the ICE is in PREOP

a.     ethercat sdos give the folloing output through the online dictionary

                                  i.    SDO 0x1008, "Device name"  0x1008:00, r-r-r-, string, 80 bit, "Device name"

                                 ii.    SDO 0x6000, "Input Data" 0x6000:00, r-r-r-, octet_string, 32 bit, "Input Data"

                                iii.    SDO 0x7010, "Output Data" 0x7010:00, rwrwrw, octet_string, 32 bit, "Output Data"

b.    read values of sdo

                                  i.    ethercat upload -p 0 0x1008 0 --> SSC-Device

                                 ii.    ethercat upload -p 0 0x6000 0 --> SDO transfer aborted with code 0x06070012: Data type does not match, length of service parameter too high

1.    also with -t octet_string and -t uint32

                                iii.    Hence, the ICE is not abled to respond correctly to the sdo request on 0x6000. 0x1008 with same type will work

3.    connect the ICE with twincat without repowering/resetting

a.     TwinCAT has no ESI,  it must also operate with the online dictionary like IGH

b.    scan EtherCAT bus and add the ICE to the master. TwinCAT is stil in config mode

c.     object 0x6000 0 is readable and has the value 0x00CCBBAA

d.    object 0x7010 0 is writable. the LED are switchable

4.    connect the ICE with IGH without repowering/resetting

a.     ethercat upload -p 0 -t uint32 0x6000 0 --> 0xaabbcc00 2864434176

b.    ethercat download -p 0 -t uint32 0x7010 0 0x0f --> switch led

c.     ethercat download -p 0 -t uint32 0x7010 0 0xf0--> switch led

d.    ethercat download -p 0 -t octet_string 0x7010 0 0xf0 --> switch led but not with the expected result

e.    ethercat download -p 0 -t octet_string 0x7010 0 0x0f --> switch led but not with the expected result

Hence, there was a miracle. TwinCAT does some magic config. So after TwinCAT does something, IGH can read/write the objects 0x6000/0x7010. Writing 0x7010 will only work correctly with type uint32. The propagated type octet_string delivers some strange data.

Has anybody some experience with that board on IgH-Master?

kind regards,
Matthias

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