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

Matthias Bartsch mbartsch at aradex.com
Wed Jul 8 14:21:16 CEST 2020


Hi Oguz,
I got the interface running. I made a test program from the scratch and it was working. The difference was that in my test code I had configured the Output domain first and after the input domain.
When I do like this it's working.
Please check if you configure the output domain first. This was what had resolved my problem with the B&R slave (Hilscher).

My code:

if (uiGetDomainEntriesOutput() > 0)
    {
        if (0 != ecrt_domain_reg_pdo_entry_list(m_po_domainOutput, m_po_domainOutput_regs))
        {
            PostMessage(CMessages::MS_ERROR, eMsg_RegisterDomainPDOsFailed, 1);
            return false;
        }
    }
    if (uiGetDomainEntriesInput() > 0)
    {
        if (0 != ecrt_domain_reg_pdo_entry_list(m_po_domainInput, m_po_domainInput_regs ))

        {
            PostMessage(CMessages::MS_ERROR, eMsg_RegisterDomainPDOsFailed, 0);
            return false;
        }
    }

Best regards
Matthias

-----Urspr√ľngliche Nachricht-----
Von: Bilko AS, Oguz Dilmac <odilmac at bilko-automation.com> 
Gesendet: Dienstag, 7. Juli 2020 18:00
An: Matthias Bartsch <mbartsch at aradex.com>
Cc: Gavin Lambert <gavin.lambert at tomra.com>; 'etherlab-users at etherlab.org' <etherlab-users at etherlab.org>
Betreff: Re: [etherlab-users] etherlab-users Digest, Vol 140, Issue 4 EtherCAT slave B&R X20 IF 10G3

Hi,

We have a similar problem. Did you succeeded to use the BNR device with Hilscher interface? If so how? :)

We are trying to use IPG laser resonator. It has a Hilscher EtherCAT interface.

We get the PDO configuration using "ethercat cstruct" command. The device goes to OP mode. It has a debug interface and we see that the sent command data is received by the device. But all the response data in the process data is always 0. We can read the related objects with SDO using "ethercat upload" command. But we can't read them with process data.

We tried to use two domains but nothing changed. We also tried to configure the PDO mapping with objects 0x1c12, 0x1c13, 0x1600 and 0x1A00 as the configuration we got from cstruct command. But it gave an error complaining that these objects are read-only. Also it didn't go to OP mode.

But twincat works. We can read response data on free run.

Do you have any suggestion?

Best regards,

Oguz.


On 2019-02-21 1:46 AM, Gavin Lambert wrote:
> Note that there are two different kinds of PDO reconfiguration:
>
> 1. Configuration of the PDO Assign objects, to specify which PDO objects are included in each Sync Manager.
> 2. Configuration of the PDO objects themselves, to specify which individual data elements are included in each PDO.
>
> Some slaves support neither.  Most slaves (where they support CoE at all) support #1 only.  Very few support #2.
>
> Etherlab handles both through the same ecrt_slave_config_pdos configuration call; the distinction between the two is simply that for slaves that don't support #2 you have to be careful to specify the layout of the PDO objects exactly identical to what the slave itself specifies (including order and padding).  Etherlab will log a warning when it notices that the slave doesn't support altering the configuration but as long as the configuration matches then it doesn't need to, and overall configuration will proceed successfully.
>
> If it works with TwinCAT then it is unlikely that the slave is buggy (although it is possible that there is some important difference between the SII XML and SII EEPROM contents); it is more likely that your configuration code has an error.
>
> With your app not running, try hard-rebooting the slave and letting Etherlab re-detect it (this is important to clear any configuration set in error), then run the "ethercat cstruct" command to get the code for the slave's default configuration, then compare this with your existing code and with your desired configuration.
>
> You can also use the "ethercat download" command to manually assign new values to the PDO Assign objects to match your desired configuration.  Verify your selection with "ethercat pdos -v", and then use "ethercat cstruct" to get the corresponding code to put into your application to select the same configuration in the future.
>
>
> Gavin Lambert
> Senior Software Developer
>
>   
>
>
> COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland 
> 1061 | New Zealand
> Switchboard: +49 2630 96520 | https://www.tomra.com
>
> The information contained in this communication and any attachment is confidential and may be legally privileged. It should only be read by the person(s) to whom it is addressed. If you have received this communication in error, please notify the sender and delete the communication.
>> -----Original Message-----
>> From: Matthias Bartsch
>> Sent: Thursday, 21 February 2019 06:02
>> To: 'etherlab-users at etherlab.org' <etherlab-users at etherlab.org>
>> Subject: Re: [etherlab-users] etherlab-users Digest, Vol 140, Issue 4 
>> EtherCAT slave B&R X20 IF 10G3
>>
>> 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
>> Matthias
>>
>> -----Urspr√ľngliche Nachricht-----
>> Von: etherlab-users [mailto:etherlab-users-bounces at etherlab.org] Im 
>> Auftrag von etherlab-users-request at etherlab.org
>> Gesendet: Montag, 18. Februar 2019 23:25
>> An: etherlab-users at etherlab.org
>> Betreff: etherlab-users Digest, Vol 140, Issue 4
>>
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>> Today's Topics:
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>>     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
>> Message-ID:
>> 	<AM4PR0302MB28207C8409F8484113478363E8630 at AM4PR0302MB2
>> 820.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
>> Matthias
>>
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