[etherlab-users] etherlab-users Digest, Vol 140, Issue 4 EtherCAT slave B&R X20 IF 10G3

Matthias Bartsch mbartsch at aradex.com
Wed Feb 20 18:01:35 CET 2019

Hello Gavin,
thank you very much for your answer, The slave doesn't support the reconfiguration of the PDOs. I have tried it anyway but the slave gives an error. I tried also the configure only the sync managers but it didn't resolve the problem. I also use different input and output domains as the slave doesn't support LRW command.
I assume the slave implementation is buggy but as it's working with Twincat it's difficult to convince the supplier of the module.

Best regards

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Today's Topics:

   1. Re: EtherCAT slave B&R X20 IF 10G3 goes into operatonal mode
      but doesn't update the process image (Gavin Lambert)


Message: 1
Date: Mon, 18 Feb 2019 22:24:54 +0000
From: Gavin Lambert <gavin.lambert at tomra.com>
To: Matthias Bartsch <mbartsch at aradex.com>,
	"'etherlab-users at etherlab.org'" <etherlab-users at etherlab.org>
Subject: Re: [etherlab-users] EtherCAT slave B&R X20 IF 10G3 goes into
	operatonal mode but doesn't update the process image
	<AM4PR0302MB28207C8409F8484113478363E8630 at AM4PR0302MB2820.eurprd03.prod.outlook.com>
Content-Type: text/plain; charset="us-ascii"

I'm not familiar with that specific slave, but if a slave has reconfigurable PDOs then you may be required to actually configure them before you can successfully communicate with it.

This requires calling ecrt_slave_config_pdos with the appropriate PDO definitions, which must be compatible with some configuration that the slave supports (check the syslog when you activate the master to see if there are any errors occurring during configuration, possibly with "ethercat debug 1" active before running your app).  See the example code included with Etherlab.

(If you don't call this, then Etherlab assumes the slave's default PDO layout, which might be empty for some slaves.  If you do call it with invalid arguments, then depending on the slave it may be left with its original configuration, an empty configuration, or some subset of your intended configuration.)

Some slaves may also require specific SDO setup before entering OP state - you can use ecrt_slave_config_sdo* functions to register these.  (Note that you should not use this to configure the PDO Config/Assign objects; that's what the previous function takes care of for you.)

The slave device's manual should explain the supported PDO layouts and other configuration options.

Gavin Lambert
Senior Software Developer

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From: etherlab-users <etherlab-users-bounces at etherlab.org> On Behalf Of Matthias Bartsch
Sent: Monday, 18 February 2019 23:47
To: 'etherlab-users at etherlab.org' <etherlab-users at etherlab.org>
Subject: [etherlab-users] EtherCAT slave B&R X20 IF 10G3 goes into operatonal mode but doesn't update the process image

Hello @all!

I'm trying to use a "B&R X20 IF 10G3" EtherCAT  interface device with the IgH 1.5.2 EtherCAT master and Gavin's patch set 20171102.
The B&R device use the Hilscher EtherCAT slave implementation.
The configuration and startup  of the device seems OK and the device is going into operational state. But the working counter for the device isn't increased and no cyclic (PDO) communication is possible.
Access via SDO in preoperational state works.
I have checked the communication with TwinCAT and it's working. TwinCAT doesn't set any special SDO at startup and the addresses of the sync managers seems to be the same as the IgH stack uses.
I have also created a new SII eeprom image from the slaves ESI file but no success.
Has somebody faced already a similar situation?
I have logged the startup sequence with wireshark and itlooks like that TwinCAT configures every parameter each time  when it starts but the IgH stack doesn't do that (maybe because the settings from the SII memory are the same used for the communication?). I'm not so familiar in interpreting the wireshark log so maybe somebody can give me an advice what's maybe the problem.

Best regards

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