[etherlab-users] Invalid output configuration

Fri Jun 5 00:18:50 CEST 2020

I hope that pointer constant was the result of some output script and is not literally present in your code like that.

As for whether that’s ok, it depends on the slave.  Configurable slaves (with CoE) often do support that kind of reconfiguration, but simple slaves do not – the most you can do is disable the watchdog.

If there’s a value you’re not interested in, you can simply not register any of the values from that SM in your domain while still specifying it in the syncs array and this will still omit it from the domain packet.

Although some slaves won’t like that either; they may want to receive a heartbeat or other output on each cycle.  Often even if there isn’t actually interesting data the slave might still use the act of receiving output data to trigger some internal processing, so it’s possible that the inputs won’t update if you don’t send it any outputs, for example.

Gavin Lambert
Senior Software Developer

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From: William Zumwalt
Sent: Friday, 5 June 2020 04:48
Cc: etherlab-users at etherlab.org
Subject: Re: [etherlab-users] Invalid output configuration

My config matches output of 'ethercat cstruct' with one difference. Is it normally ok to zero out receive pdo's if I don't plan to using those? I've written an empty SM2 in place of what 'ethercat cstruct' populates with defaults. My syncs appear as:

ec_sync_info_t slave_0_syncs[] = {
        {2, EC_DIR_OUTPUT, 0, 0, EC_WD_DISABLE},
        {3, EC_DIR_INPUT, 1, 0x8dd315021341, EC_WD_DISABLE},
        {255, EC_DIR_INVALID, 0, 0, EC_WD_DEFAULT},
};

On Wed, Jun 3, 2020 at 7:26 PM Gavin Lambert <gavin.lambert at tomra.com<mailto:gavin.lambert at tomra.com>> wrote:
Typically, yes.

What you should try is this:

 1.  Ensure that your master app is not running.
 2.  Physically reboot the slave (eg. power cycle).
 3.  Run “ethercat cstruct -p0” (substitute the position of your actual slave if different)
 4.  Compare the output to the code in your master app.

This will tell you the default PDO layout of the slave, which is typically what you want to use in your master app – unless you can prove otherwise, assume anything different in your code is a bug.

In some cases you may want to use some non-default PDOs, and there are ways to get the cstruct output for that as well, but typically slaves will only support a limited set of alternative configurations.

Gavin Lambert
Senior Software Developer

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From: William Zumwalt
Sent: Thursday, 4 June 2020 12:15
To: etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Subject: [etherlab-users] Invalid output configuration

I getting "Invalid output configuration" when starting up a slave. Can anyone help narrow this down, to what this might refer to?

[ 4101.757740] EtherCAT DEBUG 0-main-0: PREOP -> PREOP + ERROR.
[ 4101.757751] EtherCAT ERROR 0-main-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 4101.765760] EtherCAT 0: Slave states on main device: PREOP + ERROR.
[ 4101.765769] EtherCAT ERROR 0-main-0: AL status message 0x001D: "Invalid output configuration".

Could this be configuration issue with the sync EC_DIR_OUTPUT?
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