[etherlab-users] Beckhoff EL2809 (16 digital outputs) initialization issue
BUSSIERES Vincent
vincent.bussieres at hemeria-group.com
Wed Apr 22 22:49:57 CEST 2020
Dear Etherlab users,
I am working with a Beckhoff EL2809 module (16 digital outputs module) and I have some difficulties to register pdo entries.
I think that for this module pdo are not assignable.
You can find some informations about this product below :
=== Master 0, Slave 3 ===
Device: Main
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000002
Product code: 0x0af93052
Revision number: 0x00120000
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, delay measurement only
DC system time transmission delay: 885 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0* EBUS up open yes 2 2053620480 0 145
1 EBUS up open yes 4 2053621070 590 140
2 N/A down closed no - - - -
3 N/C down closed no - - - -
General:
Group: DigOut
Image name:
Order number: EL2809
Device name: EL2809 16K. Dig. Ausgang 24V, 0.5A
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 140 mA
SM0: PhysAddr 0x0f00, DefaultSize 1, ControlRegister 0x44, Enable 9
RxPDO 0x1600 "Channel 1"
PDO entry 0x7000:01, 1 bit, "Output"
RxPDO 0x1601 "Channel 2"
PDO entry 0x7010:01, 1 bit, "Output"
RxPDO 0x1602 "Channel 3"
PDO entry 0x7020:01, 1 bit, "Output"
RxPDO 0x1603 "Channel 4"
PDO entry 0x7030:01, 1 bit, "Output"
RxPDO 0x1604 "Channel 5"
PDO entry 0x7040:01, 1 bit, "Output"
RxPDO 0x1605 "Channel 6"
PDO entry 0x7050:01, 1 bit, "Output"
RxPDO 0x1606 "Channel 7"
PDO entry 0x7060:01, 1 bit, "Output"
RxPDO 0x1607 "Channel 8"
PDO entry 0x7070:01, 1 bit, "Output"
SM1: PhysAddr 0x0f01, DefaultSize 1, ControlRegister 0x44, Enable 9
RxPDO 0x1608 "Channel 9"
PDO entry 0x7080:01, 1 bit, "Output"
RxPDO 0x1609 "Channel 10"
PDO entry 0x7090:01, 1 bit, "Output"
RxPDO 0x160a "Channel 11"
PDO entry 0x70a0:01, 1 bit, "Output"
RxPDO 0x160b "Channel 12"
PDO entry 0x70b0:01, 1 bit, "Output"
RxPDO 0x160c "Channel 13"
PDO entry 0x70c0:01, 1 bit, "Output"
RxPDO 0x160d "Channel 14"
PDO entry 0x70d0:01, 1 bit, "Output"
RxPDO 0x160e "Channel 15"
PDO entry 0x70e0:01, 1 bit, "Output"
RxPDO 0x160f "Channel 16"
PDO entry 0x70f0:01, 1 bit, "Output"
I don't know if I need to map PDOs because they are already mapped.
At the initialization, « ecrt_domain_reg_pdo_entry_list » return error -14. You can find below a part of my code for the initialization.
Moreover, each output is written on 1 bit, we can only write PDO with macro EC_WRITE_U8, how can I do to drive only one output ?
static unsigned int offOutput[16];
static ec_domain_state_t domain1_state = {};
static ec_master_state_t master_state = {};
const static ec_pdo_entry_reg_t domain1_regs[] = {
{0, 3, 0x00000002, 0x0af93052, 0x7000, 1, &offOutput[0]},
{0, 3, 0x00000002, 0x0af93052, 0x7010, 1, &offOutput[1]},
{0, 3, 0x00000002, 0x0af93052, 0x7020, 1, &offOutput[2]},
{0, 3, 0x00000002, 0x0af93052, 0x7030, 1, &offOutput[3]},
{0, 3, 0x00000002, 0x0af93052, 0x7040, 1, &offOutput[4]},
{0, 3, 0x00000002, 0x0af93052, 0x7050, 1, &offOutput[5]},
{0, 3, 0x00000002, 0x0af93052, 0x7060, 1, &offOutput[6]},
{0, 3, 0x00000002, 0x0af93052, 0x7070, 1, &offOutput[7]},
{0, 3, 0x00000002, 0x0af93052, 0x7080, 1, &offOutput[8]},
{0, 3, 0x00000002, 0x0af93052, 0x7090, 1, &offOutput[9]},
{0, 3, 0x00000002, 0x0af93052, 0x70a0, 1, &offOutput[10]},
{0, 3, 0x00000002, 0x0af93052, 0x70b0, 1, &offOutput[11]},
{0, 3, 0x00000002, 0x0af93052, 0x70c0, 1, &offOutput[12]},
{0, 3, 0x00000002, 0x0af93052, 0x70d0, 1, &offOutput[13]},
{0, 3, 0x00000002, 0x0af93052, 0x70e0, 1, &offOutput[14]},
{0, 3, 0x00000002, 0x0af93052, 0x70f0, 1, &offOutput[15]},
{}
};
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x7000, 0x01, 1},
{0x7010, 0x01, 1},
{0x7020, 0x01, 1},
{0x7030, 0x01, 1},
{0x7040, 0x01, 1},
{0x7050, 0x01, 1},
{0x7060, 0x01, 1},
{0x7070, 0x01, 1},
{0x7080, 0x01, 1},
{0x7090, 0x01, 1},
{0x70a0, 0x01, 1},
{0x70b0, 0x01, 1},
{0x70c0, 0x01, 1},
{0x70d0, 0x01, 1},
{0x70e0, 0x01, 1},
{0x70f0, 0x01, 1},
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1600, 1, &slave_0_pdo_entries[0]},
{0x1601, 1, &slave_0_pdo_entries[1]},
{0x1602, 1, &slave_0_pdo_entries[2]},
{0x1603, 1, &slave_0_pdo_entries[3]},
{0x1604, 1, &slave_0_pdo_entries[4]},
{0x1605, 1, &slave_0_pdo_entries[5]},
{0x1606, 1, &slave_0_pdo_entries[6]},
{0x1607, 1, &slave_0_pdo_entries[7]},
{0x1608, 1, &slave_0_pdo_entries[8]},
{0x1609, 1, &slave_0_pdo_entries[9]},
{0x160a, 1, &slave_0_pdo_entries[10]},
{0x160b, 1, &slave_0_pdo_entries[11]},
{0x160c, 1, &slave_0_pdo_entries[12]},
{0x160d, 1, &slave_0_pdo_entries[13]},
{0x160e, 1, &slave_0_pdo_entries[14]},
{0x160f, 1, &slave_0_pdo_entries[15]},
};
ec_sync_info_t slave_0_syncs[] = {
{0, EC_DIR_OUTPUT, 8, slave_0_pdos + 0, EC_WD_DISABLE},
{1, EC_DIR_OUTPUT, 8, slave_0_pdos + 8, EC_WD_DISABLE},
{0xff}
};
static ec_master_t *master = nullptr;
static ec_domain_t *domain1 = nullptr;
static uint8_t *domain1_pd = nullptr;
static ec_slave_config_t *sc_el2809 = nullptr;
static ec_slave_config_state_t sc_el2809_state = {};
static ec_slave_info_t slaveInfo;
bool Worker::init()
{
master = ecrt_request_master(0);
if ( !master )
return false;
domain1 = ecrt_master_create_domain(master);
if ( !domain1 )
return false;
if ( !(sc_el2809 = ecrt_master_slave_config(master, 0, 3, 0x00000002, 0x0af93052)) )
{
fprintf(stderr, "Failed to get slave configuration for AKD.\n");
return false;
}
if (ecrt_slave_config_pdos(sc_el2809, EC_END, slave_0_syncs))
return false;
//----------- return -14 ?
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs))
return false;
//-----------------------
if ( ecrt_master_activate( master ) )
return false;
if (!(domain1_pd = ecrt_domain_data(domain1)))
return false;
return true;
}
dmesg doesn't seem report any errors.
Best regards
Vincent BUSSIERES
Responsable Technique Logiciel
[1572337113342]
ZE Ma Campagne
36, Impasse Félix Nadar
16000 ANGOULEME
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