[etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue
Kivel Niko (PSI)
niko.kivel at psi.ch
Fri May 15 14:13:52 CEST 2020
Hi
here is what we map, only end of the lines from #14 ff. are interesting for you guys.
https://github.com/paulscherrerinstitute/ecmccfg/blob/19470cf1c9b71e52777a06f641394d85bc874918/hardware/Beckhoff_slaves/ecmcEL5101_32bit.cmd#L14
best
Niko
--
Paul Scherrer Institute
Dr. Niko Kivel
Forschungsstrasse 111
WBGB/017
5232 Villigen PSI
Switzerland
phone: +41 56 310 2226
email: niko.kivel at psi.ch
________________________________
From: etherlab-users <etherlab-users-bounces at etherlab.org> on behalf of Richard Hacker <ha at igh.de>
Sent: Friday, May 15, 2020 2:00:03 PM
To: BUSSIERES Vincent; etherlab-users at etherlab.org
Subject: Re: [etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue
Don't be mislead by Beckhoff's XML description files. I've had numerous
fights with them about incorrect description files! "With TwinCAT it
works" is a standard response. Yeah right. That's because TwinCAT
typically ignores XML description files and reads the configuration
straight out of the slaves during a bus scan.
Usually we map RxPDO #x1601 and TxPDO #x1a01. There is quite a bit of
SDO configuration in #x800* to get right. You will need to check the
documentation.
Am 15/05/2020 um 12.00 schrieb BUSSIERES Vincent:
> Dear all,
>
> Finally, I mapped PDO like configurutation obtained using ethercat xml command.
> Mapping seems to be quite different from xml Beckhoff description file.
>
> Now I have no more problem with mapping, slave is in OP state.
> But I try to read encoder value using TxPdo 0x1a00 (0x6000:0x11:32) but I read always 0. Led status of inputs signal A,B, C are OK and change of states when I manually turned motor axis.
> When I write a value in counter value using TxPdo 0x1600 (0x7000:0x11:32), I read the good value with TxPdo.
>
> I don't know why I can't read the true counter value. Does someone have an idea?
>
> Regards
>
> Vincent BUSSIERES
> Responsable Technique Logiciel
>
>
> ZE Ma Campagne
> 36, Impasse Félix Nadar
> 16000 ANGOULEME
> Tel: 33 (0)9.72.40.35.08
> www.hemeria-group.com<http://www.hemeria-group.com>
> Afin de contribuer au respect de l'environnement, merci de n'imprimer ce courriel qu'en cas de nécessité.
> Ce message et les fichiers pouvant être attachés sont confidentiels, réservés à l'usage unique des destinataires et n'engagent HEMERIA sous aucune forme que ce soit.
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>
>
>
> -----Message d'origine-----
> De : Richard Hacker <ha at igh.de>
> Envoyé : jeudi 14 mai 2020 17:05
> À : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com>; etherlab-users at etherlab.org
> Objet : Re: [etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue
>
> [10918.274957] EtherCAT ERROR 0-main-5: AL status message 0x001E:
> "Invalid input configuration".
>
> Pls check your configuration... there is something wrong
>
> Restart your EC Network and before you start _any_ application, scan the bus for the available PDO's and use that for a start.
>
> Am 14/05/2020 um 16.59 schrieb BUSSIERES Vincent:
>> I map the inputs RxPdo and slave doesn't go in OP state and stay in PREOP.
>> You can see 2 errors in log file below:
>>
>> [10918.266966] EtherCAT ERROR 0-main-5: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
>> [10918.274957] EtherCAT ERROR 0-main-5: AL status message 0x001E: "Invalid input configuration".
>>
>>
>> [10917.969204] EtherCAT: Requesting master 0...
>> [10917.969209] EtherCAT DEBUG 0: IDLE -> OPERATION.
>> [10917.969213] EtherCAT: Successfully requested master 0.
>> [10917.969222] EtherCAT DEBUG 0: ecrt_master_create_domain(master =
>> 0xffff895554eb6000) [10917.969226] EtherCAT DEBUG 0: Created domain 0.
>> [10917.969239] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969244] EtherCAT DEBUG 0: Creating slave configuration for 0:5, 0x00000002/0x13ED3052.
>> [10917.969251] EtherCAT DEBUG 0 0:5: Attached slave main-5.
>> [10917.969278] EtherCAT DEBUG 0 0:5: ecrt_slave_config_sync_manager(sc
>> = 0xffff895551db3000, sync_index = 0, dir = 1, watchdog_mode = 2)
>> [10917.969287] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_assign_clear(sc = 0xffff895551db3000, sync_index
>> = 0) [10917.969294] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_sync_manager(sc = 0xffff895551db3000, sync_index =
>> 1, dir = 2, watchdog_mode = 2) [10917.969300] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_assign_clear(sc = 0xffff895551db3000, sync_index = 1) [10917.969307] EtherCAT DEBUG 0 0:5: ecrt_slave_config_sync_manager(sc = 0xffff895551db3000, sync_index = 2, dir = 1, watchdog_mode = 1) [10917.969313] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_assign_clear(sc = 0xffff895551db3000, sync_index = 2) [10917.969324] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_assign_add(sc = 0xffff895551db3000, sync_index = 2, pdo_index = 0x1601) [10917.969327] EtherCAT DEBUG 0 0:5: Loading default mapping for PDO 0x1601.
>> [10917.969331] EtherCAT DEBUG 0 0:5: Entry 0x7000:01.
>> [10917.969334] EtherCAT DEBUG 0 0:5: Entry 0x7000:02.
>> [10917.969337] EtherCAT DEBUG 0 0:5: Entry 0x7000:03.
>> [10917.969339] EtherCAT DEBUG 0 0:5: Entry 0x7000:04.
>> [10917.969342] EtherCAT DEBUG 0 0:5: Entry 0x7000:11.
>> [10917.969349] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_clear(sc = 0xffff895551db3000, pdo_index
>> = 0x1601) [10917.969358] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>> 0x1601, entry_index = 0x7000, entry_subindex = 0x01, entry_bit_length
>> = 1) [10917.969364] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>> 0x1601, entry_index = 0x7000, entry_subindex = 0x02, entry_bit_length
>> = 1) [10917.969370] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1601, entry_index = 0x7000, entry_subindex = 0x03, entry_bit_length = 1) [10917.969376] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1601, entry_index = 0x7000, entry_subindex = 0x04, entry_bit_length = 1) [10917.969383] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1601, entry_index = 0x7000, entry_subindex = 0x11, entry_bit_length = 16) [10917.969388] EtherCAT DEBUG 0 0:5: ecrt_slave_config_sync_manager(sc = 0xffff895551db3000, sync_index = 3, dir = 2, watchdog_mode = 1) [10917.969393] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_assign_clear(sc = 0xffff895551db3000, sync_index = 3) [10917.969400] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_assign_add(sc = 0xffff895551db3000, sync_index = 3, pdo_index = 0x1A01) [10917.969403] EtherCAT DEBUG 0 0:5: Loading default mapping for PDO 0x1A01.
>> [10917.969408] EtherCAT DEBUG 0 0:5: Entry 0x6000:01.
>> [10917.969411] EtherCAT DEBUG 0 0:5: Entry 0x6000:02.
>> [10917.969413] EtherCAT DEBUG 0 0:5: Entry 0x6000:03.
>> [10917.969416] EtherCAT DEBUG 0 0:5: Entry 0x6000:06.
>> [10917.969418] EtherCAT DEBUG 0 0:5: Entry 0x6000:07.
>> [10917.969421] EtherCAT DEBUG 0 0:5: Entry 0x6000:09.
>> [10917.969423] EtherCAT DEBUG 0 0:5: Entry 0x6000:0A.
>> [10917.969426] EtherCAT DEBUG 0 0:5: Entry 0x6000:0B.
>> [10917.969429] EtherCAT DEBUG 0 0:5: Entry 0x6000:0C.
>> [10917.969431] EtherCAT DEBUG 0 0:5: Entry 0x6000:0D.
>> [10917.969434] EtherCAT DEBUG 0 0:5: Entry 0x6000:0E.
>> [10917.969436] EtherCAT DEBUG 0 0:5: Entry 0x6000:0F.
>> [10917.969439] EtherCAT DEBUG 0 0:5: Entry 0x6000:10.
>> [10917.969442] EtherCAT DEBUG 0 0:5: Entry 0x6000:11.
>> [10917.969444] EtherCAT DEBUG 0 0:5: Entry 0x6000:12.
>> [10917.969449] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_clear(sc = 0xffff895551db3000, pdo_index
>> = 0x1A01) [10917.969457] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length
>> = 1) [10917.969463] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length
>> = 1) [10917.969469] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x03, entry_bit_length
>> = 1) [10917.969475] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x06, entry_bit_length
>> = 1) [10917.969481] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x07, entry_bit_length
>> = 1) [10917.969487] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x09, entry_bit_length = 1) [10917.969493] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0A, entry_bit_length = 1) [10917.969499] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0B, entry_bit_length = 1) [10917.969505] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0C, entry_bit_length = 1) [10917.969511] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0D, entry_bit_length = 1) [10917.969517] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0E, entry_bit_length = 1) [10917.969523] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0F, entry_bit_length = 1) [10917.969529] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x10, entry_bit_length = 1) [10917.969535] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x11, entry_bit_length = 2) [10917.969541] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x12, entry_bit_length = 2) [10917.969550] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969558] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x7000, subindex = 0x01, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969562] EtherCAT DEBUG 0: Domain 0: Added 3 bytes at 0.
>> [10917.969567] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>> product_code = 0x13ed3052) [10917.969573] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =
>> 0x7000, subindex = 0x02, domain = 0xffff895556dde3c0, bit_position =
>> 0xffffa33a0574bd64) [10917.969579] EtherCAT DEBUG 0:
>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,
>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)
>> [10917.969585] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =
>> 0x7000, subindex = 0x03, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969590] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969597] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x7000, subindex = 0x04, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969602] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969609] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x7000, subindex = 0x11, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969614] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969620] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000, subindex = 0x01, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969623] EtherCAT DEBUG 0: Domain 0: Added 3 bytes at 3.
>> [10917.969629] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>> product_code = 0x13ed3052) [10917.969635] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =
>> 0x6000, subindex = 0x02, domain = 0xffff895556dde3c0, bit_position =
>> 0xffffa33a0574bd64) [10917.969640] EtherCAT DEBUG 0:
>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,
>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)
>> [10917.969646] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =
>> 0x6000, subindex = 0x03, domain = 0xffff895556dde3c0, bit_position =
>> 0xffffa33a0574bd64) [10917.969651] EtherCAT DEBUG 0:
>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,
>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)
>> [10917.969658] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =
>> 0x6000, subindex = 0x06, domain = 0xffff895556dde3c0, bit_position =
>> 0xffffa33a0574bd64) [10917.969663] EtherCAT DEBUG 0:
>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,
>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)
>> [10917.969669] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =
>> 0x6000, subindex = 0x07, domain = 0xffff895556dde3c0, bit_position =
>> 0xffffa33a0574bd64) [10917.969675] EtherCAT DEBUG 0:
>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,
>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)
>> [10917.969681] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =
>> 0x6000, subindex = 0x09, domain = 0xffff895556dde3c0, bit_position =
>> 0xffffa33a0574bd64) [10917.969686] EtherCAT DEBUG 0:
>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,
>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969693] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000, subindex = 0x0A, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969698] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969704] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000, subindex = 0x0B, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969711] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969718] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000, subindex = 0x0C, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969723] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969729] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000, subindex = 0x0D, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969735] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969741] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000, subindex = 0x0E, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969747] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969753] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000, subindex = 0x0F, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969758] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969765] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000, subindex = 0x10, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969770] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969776] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000, subindex = 0x11, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969781] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969788] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000, subindex = 0x12, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969826] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xffff895556dde3c0, mem = 0xffffa33a01ba1000) [10917.969830] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xffff895554eb6000, send_cb = 0xffffffffc09feff0, receive_cb = 0xffffffffc09ffc60, cb_data = 0xffff895554eb6000) [10917.969833] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xffff895554eb6000) [10917.969837] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
>> [10917.969840] EtherCAT 0: Domain0: Logical address 0x00000000, 6 byte, expected working counter 3.
>> [10917.969844] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 6 byte, type LRW at ffff895556dded98.
>> [10917.969846] EtherCAT DEBUG 0: Stopping master thread.
>> [10917.969866] EtherCAT DEBUG 0: Master IDLE thread exiting...
>> [10917.969930] EtherCAT 0: Master thread exited.
>> [10917.969936] EtherCAT 0: Stopping EoE thread.
>> [10917.969988] EtherCAT DEBUG 0: EoE thread exiting...
>> [10917.970056] EtherCAT 0: EoE thread exited.
>> [10917.970059] EtherCAT DEBUG 0: FSM datagram is ffff895554eb6350.
>> [10917.970061] EtherCAT 0: Starting EoE thread.
>> [10917.970258] EtherCAT 0: Starting EtherCAT-OP thread.
>> [10917.970268] EtherCAT DEBUG 0: EoE thread running.
>> [10917.970451] EtherCAT DEBUG 0: Operation thread running with fsm
>> interval = 4000 us, max data size=45000 [10917.970454] EtherCAT DEBUG
>> 0: mmap() [10917.970458] EtherCAT WARNING 0: 1 datagram UNMATCHED!
>> [10917.970467] EtherCAT DEBUG 0: Vma fault, virtual_address =
>> 00007fffec02a000, offset = 0, page = fffffd0e8eb07c40 [10917.978870] EtherCAT DEBUG 0: Configuration changed (aborting state check).
>> [10917.978871] EtherCAT DEBUG 0-main-0: Checking system time offset.
>> [10917.986899] EtherCAT WARNING 0: No app_time received up to now, abort DC time offset calculation.
>> [10917.986900] EtherCAT DEBUG 0: Requesting OP...
>> [10917.986904] EtherCAT DEBUG 0-main-5: Changing state from PREOP to OP.
>> [10917.986905] EtherCAT DEBUG 0-main-5: Configuring...
>> [10918.006913] EtherCAT DEBUG 0-main-5: Now in INIT.
>> [10918.006914] EtherCAT DEBUG 0-main-5: Clearing FMMU configurations...
>> [10918.006915] EtherCAT DEBUG 0-main-5: Clearing mailbox check flag...
>> [10918.014910] EtherCAT DEBUG 0-main-5: Clearing sync manager configurations...
>> [10918.027012] EtherCAT DEBUG 0-main-5: Clearing DC assignment...
>> [10918.034985] EtherCAT DEBUG 0-main-5: Configuring mailbox sync managers...
>> [10918.034986] EtherCAT DEBUG 0-main-5: SM0: Addr 0x1000, Size 128,
>> Ctrl 0x26, En 1 [10918.034987] EtherCAT DEBUG 0-main-5: SM1: Addr
>> 0x1080, Size 128, Ctrl 0x22, En 1 [10918.042915] EtherCAT DEBUG 0-main-5: Assigning SII access to PDI.
>> [10918.058916] EtherCAT 0: Slave states on main device: INIT, PREOP.
>> [10918.070949] EtherCAT DEBUG 0-main-5: Now in PREOP.
>> [10918.070951] EtherCAT DEBUG 0-main-5: Assigning SII access back to EtherCAT.
>> [10918.078925] EtherCAT DEBUG 0-main-5: Setting PDO assignment of SM2:
>> [10918.078926] EtherCAT DEBUG 0-main-5: Currently assigned PDOs:
>> 0x1601. PDOs to assign: 0x1601 [10918.078930] EtherCAT DEBUG 0-main-5: Setting number of assigned PDOs to zero.
>> [10918.078932] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:00.
>> [10918.078932] EtherCAT DEBUG: 00
>> [10918.078935] EtherCAT DEBUG 0-main-5: Expedited download request:
>> [10918.078935] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
>> [10918.102953] EtherCAT DEBUG 0-main-5: Download response:
>> [10918.102953] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
>> [10918.102961] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1601 at position 1.
>> [10918.102963] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:01.
>> [10918.102963] EtherCAT DEBUG: 01 16
>> [10918.102965] EtherCAT DEBUG 0-main-5: Expedited download request:
>> [10918.102966] EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00
>> [10918.122875] EtherCAT 0: Slave states on main device: PREOP.
>> [10918.126963] EtherCAT DEBUG 0-main-5: Download response:
>> [10918.126964] EtherCAT DEBUG: 00 30 60 12 1C 01 01 16 00 00
>> [10918.126973] EtherCAT DEBUG 0-main-5: Setting number of assigned PDOs to 1.
>> [10918.126975] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:00.
>> [10918.126979] EtherCAT DEBUG: 01
>> [10918.126986] EtherCAT DEBUG 0-main-5: Expedited download request:
>> [10918.126986] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00
>> [10918.154920] EtherCAT DEBUG 0-main-5: Download response:
>> [10918.154921] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00
>> [10918.154930] EtherCAT DEBUG 0-main-5: Successfully configured PDO assignment of SM2.
>> [10918.154939] EtherCAT DEBUG 0-main-5: Setting PDO assignment of SM3:
>> [10918.154939] EtherCAT DEBUG 0-main-5: Currently assigned PDOs:
>> 0x1A01. PDOs to assign: 0x1A01 [10918.154942] EtherCAT DEBUG 0-main-5: Setting number of assigned PDOs to zero.
>> [10918.154944] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:00.
>> [10918.154944] EtherCAT DEBUG: 00
>> [10918.154946] EtherCAT DEBUG 0-main-5: Expedited download request:
>> [10918.154947] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
>> [10918.178920] EtherCAT DEBUG 0-main-5: Download response:
>> [10918.178921] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
>> [10918.178931] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1A01 at position 1.
>> [10918.178932] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:01.
>> [10918.178933] EtherCAT DEBUG: 01 1A
>> [10918.178935] EtherCAT DEBUG 0-main-5: Expedited download request:
>> [10918.178936] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00
>> [10918.202933] EtherCAT DEBUG 0-main-5: Download response:
>> [10918.202934] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00
>> [10918.202941] EtherCAT DEBUG 0-main-5: Setting number of assigned PDOs to 1.
>> [10918.202942] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:00.
>> [10918.202943] EtherCAT DEBUG: 01
>> [10918.202945] EtherCAT DEBUG 0-main-5: Expedited download request:
>> [10918.202945] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00
>> [10918.226914] EtherCAT DEBUG 0-main-5: Download response:
>> [10918.226915] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00
>> [10918.226925] EtherCAT DEBUG 0-main-5: Successfully configured PDO assignment of SM3.
>> [10918.226930] EtherCAT DEBUG 0-main-5: SM2: Addr 0x1100, Size 3, Ctrl 0x64, En 1
>> [10918.226933] EtherCAT DEBUG 0-main-5: SM3: Addr 0x1180, Size 3, Ctrl 0x60, En 1
>> [10918.238918] EtherCAT DEBUG 0 0:5: FMMU: LogOff 0x00000000, Size 3, PhysAddr 0x1100, SM2, Dir out
>> [10918.238921] EtherCAT DEBUG 0 0:5: FMMU: LogOff 0x00000003, Size 3, PhysAddr 0x1180, SM3, Dir in
>> [10918.266966] EtherCAT ERROR 0-main-5: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
>> [10918.274957] EtherCAT ERROR 0-main-5: AL status message 0x001E: "Invalid input configuration".
>> [10918.294969] EtherCAT DEBUG 0-main-5: PREOP + ERROR -> PREOP.
>> [10918.294972] EtherCAT 0-main-5: Acknowledged state PREOP.
>>
>> Regards
>>
>> Vincent BUSSIERES
>> Responsable Technique Logiciel
>>
>>
>> ZE Ma Campagne
>> 36, Impasse Félix Nadar
>> 16000 ANGOULEME
>> Tel: 33 (0)9.72.40.35.08
>> www.hemeria-group.com<http://www.hemeria-group.com>
>> Afin de contribuer au respect de l'environnement, merci de n'imprimer ce courriel qu'en cas de nécessité.
>> Ce message et les fichiers pouvant être attachés sont confidentiels, réservés à l'usage unique des destinataires et n'engagent HEMERIA sous aucune forme que ce soit.
>> This email and any files transmitted with it are confidential, intented solely for the unique use of the recipients and don't commit HEMERIA.
>>
>>
>>
>>
>> -----Message d'origine-----
>> De : Richard Hacker <ha at igh.de>
>> Envoyé : jeudi 14 mai 2020 16:27
>> À : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com>;
>> etherlab-users at etherlab.org Objet : Re: [etherlab-users] Beckhoff
>> encoder interface EL5101-0010 mapping issue
>>
>> Did you map the inputs (RxPDO)? I remember that you must map them as well, even though you might not need them!
>>
>> Am 14/05/2020 um 16.17 schrieb BUSSIERES Vincent:
>>> Dear Etherlab users,
>>>
>>> I have got problems with Beckhoff encoder interface EL5101-0010 PDO mapping.
>>>
>>> I try to map only TxPDO 0x1a01 (SM3), I haven’t got any errors in
>>> init, everything seems to be fine.
>>>
>>> I read encoder value in a loop with 1ms period, return value is always 0.
>>>
>>> In dmesg, slave doesn’t reach OP state, and stay in PREOP state.
>>>
>>> In Ethercat xml description file, some entries have got 0x0 as index
>>> value, and subindex are not completed (strange). I don’t know if I
>>> need to take them into account.
>>>
>>> <Entry>
>>>
>>> <Index>#x0</Index>
>>>
>>> <BitLen>2</BitLen>
>>>
>>> <Name>Status__</Name>
>>>
>>> </Entry>
>>>
>>> You can see below dmesg :
>>>
>>> [ 7033.920685] EtherCAT: Requesting master 0...
>>>
>>> [ 7033.920686] EtherCAT DEBUG 0: IDLE -> OPERATION.
>>>
>>> [ 7033.920687] EtherCAT: Successfully requested master 0.
>>>
>>> [ 7034.872900] EtherCAT DEBUG 0: ecrt_master_create_domain(master =
>>> 0xffff895554eb6000)
>>>
>>> [ 7034.872901] EtherCAT DEBUG 0: Created domain 0.
>>>
>>> [ 7035.835219] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>> product_code = 0x13ed3052)
>>>
>>> [ 7035.835220] EtherCAT DEBUG 0: Creating slave configuration for
>>> 0:5, 0x00000002/0x13ED3052.
>>>
>>> [ 7035.835222] EtherCAT DEBUG 0 0:5: Attached slave main-5.
>>>
>>> [ 7036.592742] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_sync_manager(sc = 0xffff895552309000, sync_index =
>>> 3, dir = 2, watchdog_mode = 1)
>>>
>>> [ 7036.592745] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_assign_clear(sc = 0xffff895552309000,
>>> sync_index = 3)
>>>
>>> [ 7036.592749] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_assign_add(sc
>>> = 0xffff895552309000, sync_index = 3, pdo_index = 0x1A01)
>>>
>>> [ 7036.592750] EtherCAT DEBUG 0 0:5: Loading default mapping for PDO 0x1A01.
>>>
>>> [ 7036.592753] EtherCAT DEBUG 0 0:5: Entry 0x6000:01.
>>>
>>> [ 7036.592754] EtherCAT DEBUG 0 0:5: Entry 0x6000:02.
>>>
>>> [ 7036.592754] EtherCAT DEBUG 0 0:5: Entry 0x6000:03.
>>>
>>> [ 7036.592755] EtherCAT DEBUG 0 0:5: Entry 0x6000:06.
>>>
>>> [ 7036.592756] EtherCAT DEBUG 0 0:5: Entry 0x6000:07.
>>>
>>> [ 7036.592756] EtherCAT DEBUG 0 0:5: Entry 0x6000:09.
>>>
>>> [ 7036.592757] EtherCAT DEBUG 0 0:5: Entry 0x6000:0A.
>>>
>>> [ 7036.592758] EtherCAT DEBUG 0 0:5: Entry 0x6000:0B.
>>>
>>> [ 7036.592758] EtherCAT DEBUG 0 0:5: Entry 0x6000:0C.
>>>
>>> [ 7036.592759] EtherCAT DEBUG 0 0:5: Entry 0x6000:0D.
>>>
>>> [ 7036.592759] EtherCAT DEBUG 0 0:5: Entry 0x6000:0E.
>>>
>>> [ 7036.592760] EtherCAT DEBUG 0 0:5: Entry 0x6000:0F.
>>>
>>> [ 7036.592761] EtherCAT DEBUG 0 0:5: Entry 0x6000:10.
>>>
>>> [ 7036.592761] EtherCAT DEBUG 0 0:5: Entry 0x6000:11.
>>>
>>> [ 7036.592762] EtherCAT DEBUG 0 0:5: Entry 0x6000:12.
>>>
>>> [ 7036.592764] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_mapping_clear(sc = 0xffff895552309000,
>>> pdo_index =
>>> 0x1A01)
>>>
>>> [ 7036.592767] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x01,
>>> entry_bit_length = 1)
>>>
>>> [ 7036.592769] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x02,
>>> entry_bit_length = 1)
>>>
>>> [ 7036.592770] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x03,
>>> entry_bit_length = 1)
>>>
>>> [ 7036.592772] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x06,
>>> entry_bit_length = 1)
>>>
>>> [ 7036.592773] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x07,
>>> entry_bit_length = 1)
>>>
>>> [ 7036.592775] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x09,
>>> entry_bit_length = 1)
>>>
>>> [ 7036.592776] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0A,
>>> entry_bit_length = 1)
>>>
>>> [ 7036.592778] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0B,
>>> entry_bit_length = 1)
>>>
>>> [ 7036.592779] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0C,
>>> entry_bit_length = 1)
>>>
>>> [ 7036.592781] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0D,
>>> entry_bit_length = 1)
>>>
>>> [ 7036.592783] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0E,
>>> entry_bit_length = 1)
>>>
>>> [ 7036.592784] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0F,
>>> entry_bit_length = 1)
>>>
>>> [ 7036.592786] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x10,
>>> entry_bit_length = 1)
>>>
>>> [ 7036.592788] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x11,
>>> entry_bit_length = 2)
>>>
>>> [ 7036.592789] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x12,
>>> entry_bit_length = 2)
>>>
>>> [ 7037.153188] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>> product_code = 0x13ed3052)
>>>
>>> [ 7037.153191] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_reg_pdo_entry(sc
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x01, domain =
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>
>>> [ 7037.153193] EtherCAT DEBUG 0: Domain 0: Added 3 bytes at 0.
>>>
>>> [ 7037.153194] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>> product_code = 0x13ed3052)
>>>
>>> [ 7037.153195] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_reg_pdo_entry(sc
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x02, domain =
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>
>>> [ 7037.153196] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>> product_code = 0x13ed3052)
>>>
>>> [ 7037.153198] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_reg_pdo_entry(sc
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x03, domain =
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>
>>> [ 7037.153199] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>> product_code = 0x13ed3052)
>>>
>>> [ 7037.153200] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_reg_pdo_entry(sc
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x06, domain =
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>
>>> [ 7037.153201] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>> product_code = 0x13ed3052)
>>>
>>> [ 7037.153202] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_reg_pdo_entry(sc
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x07, domain =
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>
>>> [ 7037.153203] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>> product_code = 0x13ed3052)
>>>
>>> [ 7037.153205] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_reg_pdo_entry(sc
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x09, domain =
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>
>>> [ 7037.153206] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>> product_code = 0x13ed3052)
>>>
>>> [ 7037.153207] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_reg_pdo_entry(sc
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0A, domain =
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>
>>> [ 7037.153208] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>> product_code = 0x13ed3052)
>>>
>>> [ 7037.153209] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_reg_pdo_entry(sc
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0B, domain =
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>
>>> [ 7037.153211] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>> product_code = 0x13ed3052)
>>>
>>> [ 7037.153212] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_reg_pdo_entry(sc
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0C, domain =
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>
>>> [ 7037.153213] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>> product_code = 0x13ed3052)
>>>
>>> [ 7037.153214] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_reg_pdo_entry(sc
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0D, domain =
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>
>>> [ 7037.153215] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>> product_code = 0x13ed3052)
>>>
>>> [ 7037.153216] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_reg_pdo_entry(sc
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0E, domain =
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>
>>> [ 7037.153218] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>> product_code = 0x13ed3052)
>>>
>>> [ 7037.153219] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_reg_pdo_entry(sc
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0F, domain =
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>
>>> [ 7037.153220] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>> product_code = 0x13ed3052)
>>>
>>> [ 7037.153221] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_reg_pdo_entry(sc
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x10, domain =
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>
>>> [ 7037.153222] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>> product_code = 0x13ed3052)
>>>
>>> [ 7037.153223] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_reg_pdo_entry(sc
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x11, domain =
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>
>>> [ 7037.153224] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>> product_code = 0x13ed3052)
>>>
>>> [ 7037.153225] EtherCAT DEBUG 0 0:5:
>>> ecrt_slave_config_reg_pdo_entry(sc
>>> = 0xffff895552309000, index = 0x6000, subindex = 0x12, domain =
>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>
>>> [ 7037.720938] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain =
>>> 0xffff89555461e3c0, mem = 0xffffa33a01b69000)
>>>
>>> [ 7037.720940] EtherCAT DEBUG 0: ecrt_master_callbacks(master =
>>> 0xffff895554eb6000, send_cb = 0xffffffffc09feff0, receive_cb =
>>> 0xffffffffc09ffc60, cb_data = 0xffff895554eb6000)
>>>
>>> [ 7037.720940] EtherCAT DEBUG 0: ecrt_master_activate(master =
>>> 0xffff895554eb6000)
>>>
>>> [ 7037.720941] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.
>>>
>>> [ 7037.720942] EtherCAT 0: Domain0: Logical address 0x00000000, 3
>>> byte, expected working counter 1.
>>>
>>> [ 7037.720943] EtherCAT 0: Datagram domain0-0-main: Logical offset
>>> 0x00000000, 3 byte, type LRD at ffff89555461ef18.
>>>
>>> [ 7037.720943] EtherCAT DEBUG 0: Stopping master thread.
>>>
>>> [ 7037.720974] EtherCAT DEBUG 0: Master IDLE thread exiting...
>>>
>>> [ 7037.720978] EtherCAT 0: Master thread exited.
>>>
>>> [ 7037.720978] EtherCAT 0: Stopping EoE thread.
>>>
>>> [ 7037.721017] EtherCAT DEBUG 0: EoE thread exiting...
>>>
>>> [ 7037.721021] EtherCAT 0: EoE thread exited.
>>>
>>> [ 7037.721042] EtherCAT DEBUG 0: FSM datagram is ffff895554eb6350.
>>>
>>> [ 7037.721043] EtherCAT 0: Starting EoE thread.
>>>
>>> [ 7037.721152] EtherCAT 0: Starting EtherCAT-OP thread.
>>>
>>> [ 7037.721174] EtherCAT DEBUG 0: EoE thread running.
>>>
>>> [ 7037.721300] EtherCAT DEBUG 0: Operation thread running with fsm
>>> interval = 4000 us, max data size=45000
>>>
>>> [ 7037.721305] EtherCAT DEBUG 0: mmap()
>>>
>>> [ 7037.721308] EtherCAT DEBUG 0: Vma fault, virtual_address =
>>> 00007fffec02a000, offset = 0, page = fffffd0e908af680
>>>
>>> [ 7083.264568] EtherCAT DEBUG 0: Configuration changed (aborting
>>> state check).
>>>
>>> [ 7083.264570] EtherCAT DEBUG 0-main-0: Checking system time offset.
>>>
>>> [ 7118.368544] EtherCAT WARNING 0: No app_time received up to now,
>>> abort DC time offset calculation.
>>>
>>> [ 7118.368545] EtherCAT DEBUG 0: Requesting OP...
>>>
>>> [ 7118.368549] EtherCAT DEBUG 0-main-5: Changing state from PREOP to OP.
>>>
>>> [ 7118.368550] EtherCAT DEBUG 0-main-5: Configuring...
>>>
>>> [ 7118.384514] EtherCAT DEBUG 0-main-5: Now in INIT.
>>>
>>> [ 7118.384515] EtherCAT DEBUG 0-main-5: Clearing FMMU configurations...
>>>
>>> [ 7118.384515] EtherCAT DEBUG 0-main-5: Clearing mailbox check flag...
>>>
>>> [ 7118.392604] EtherCAT DEBUG 0-main-5: Clearing sync manager
>>> configurations...
>>>
>>> [ 7118.400551] EtherCAT DEBUG 0-main-5: Clearing DC assignment...
>>>
>>> [ 7118.408559] EtherCAT DEBUG 0-main-5: Configuring mailbox sync managers...
>>>
>>> [ 7118.408562] EtherCAT DEBUG 0-main-5: SM0: Addr 0x1000, Size 128,
>>> Ctrl 0x26, En 1
>>>
>>> [ 7118.408564] EtherCAT DEBUG 0-main-5: SM1: Addr 0x1080, Size 128,
>>> Ctrl 0x22, En 1
>>>
>>> [ 7118.416573] EtherCAT DEBUG 0-main-5: Assigning SII access to PDI.
>>>
>>> [ 7118.432522] EtherCAT 0: Slave states on main device: INIT, PREOP.
>>>
>>> [ 7118.444566] EtherCAT DEBUG 0-main-5: Now in PREOP.
>>>
>>> [ 7118.444567] EtherCAT DEBUG 0-main-5: Assigning SII access back to
>>> EtherCAT.
>>>
>>> [ 7118.456607] EtherCAT DEBUG 0-main-5: Setting PDO assignment of SM2:
>>>
>>> [ 7118.456608] EtherCAT DEBUG 0-main-5: Currently assigned PDOs: 0x1600.
>>> PDOs to assign: 0x1600
>>>
>>> [ 7118.456610] EtherCAT DEBUG 0-main-5: Setting number of assigned
>>> PDOs to zero.
>>>
>>> [ 7118.456611] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:00.
>>>
>>> [ 7118.456611] EtherCAT DEBUG: 00
>>>
>>> [ 7118.456612] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>
>>> [ 7118.456612] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
>>>
>>> [ 7118.480613] EtherCAT DEBUG 0-main-5: Download response:
>>>
>>> [ 7118.480613] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
>>>
>>> [ 7118.480619] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1600 at position 1.
>>>
>>> [ 7118.480620] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:01.
>>>
>>> [ 7118.480621] EtherCAT DEBUG: 00 16
>>>
>>> [ 7118.480623] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>
>>> [ 7118.480623] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00
>>>
>>> [ 7118.496551] EtherCAT 0: Slave states on main device: PREOP.
>>>
>>> [ 7118.504563] EtherCAT DEBUG 0-main-5: Download response:
>>>
>>> [ 7118.504564] EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00
>>>
>>> [ 7118.504572] EtherCAT DEBUG 0-main-5: Setting number of assigned
>>> PDOs to 1.
>>>
>>> [ 7118.504574] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:00.
>>>
>>> [ 7118.504574] EtherCAT DEBUG: 01
>>>
>>> [ 7118.504577] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>
>>> [ 7118.504577] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00
>>>
>>> [ 7118.528572] EtherCAT DEBUG 0-main-5: Download response:
>>>
>>> [ 7118.528573] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00
>>>
>>> [ 7118.528586] EtherCAT DEBUG 0-main-5: Successfully configured PDO
>>> assignment of SM2.
>>>
>>> [ 7118.528596] EtherCAT DEBUG 0-main-5: Setting PDO assignment of SM3:
>>>
>>> [ 7118.528597] EtherCAT DEBUG 0-main-5: Currently assigned PDOs: 0x1A01.
>>> PDOs to assign: 0x1A01
>>>
>>> [ 7118.528602] EtherCAT DEBUG 0-main-5: Setting number of assigned
>>> PDOs to zero.
>>>
>>> [ 7118.528604] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:00.
>>>
>>> [ 7118.528605] EtherCAT DEBUG: 00
>>>
>>> [ 7118.528608] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>
>>> [ 7118.528608] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
>>>
>>> [ 7118.552556] EtherCAT DEBUG 0-main-5: Download response:
>>>
>>> [ 7118.552557] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
>>>
>>> [ 7118.552569] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1A01 at position 1.
>>>
>>> [ 7118.552571] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:01.
>>>
>>> [ 7118.552571] EtherCAT DEBUG: 01 1A
>>>
>>> [ 7118.552575] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>
>>> [ 7118.552575] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00
>>>
>>> [ 7118.580562] EtherCAT DEBUG 0-main-5: Download response:
>>>
>>> [ 7118.580563] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00
>>>
>>> [ 7118.580573] EtherCAT DEBUG 0-main-5: Setting number of assigned
>>> PDOs to 1.
>>>
>>> [ 7118.580575] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:00.
>>>
>>> [ 7118.580575] EtherCAT DEBUG: 01
>>>
>>> [ 7118.580578] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>
>>> [ 7118.580579] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00
>>>
>>> [ 7118.604557] EtherCAT DEBUG 0-main-5: Download response:
>>>
>>> [ 7118.604558] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00
>>>
>>> [ 7118.604571] EtherCAT DEBUG 0-main-5: Successfully configured PDO
>>> assignment of SM3.
>>>
>>> [ 7118.604578] EtherCAT DEBUG 0-main-5: SM2: Addr 0x1100, Size 6,
>>> Ctrl 0x24, En 1
>>>
>>> [ 7118.604581] EtherCAT DEBUG 0-main-5: SM3: Addr 0x1180, Size 3,
>>> Ctrl 0x60, En 1
>>>
>>> [ 7118.612565] EtherCAT DEBUG 0 0:5: FMMU: LogOff 0x00000000, Size 3,
>>> PhysAddr 0x1180, SM3, Dir in
>>>
>>> [ 7118.636572] EtherCAT ERROR 0-main-5: Failed to set SAFEOP state,
>>> slave refused state change (PREOP + ERROR).
>>>
>>> [ 7118.644558] EtherCAT ERROR 0-main-5: AL status message 0x0024:
>>> "Invalid Input Mapping".
>>>
>>> [ 7118.664569] EtherCAT DEBUG 0-main-5: PREOP + ERROR -> PREOP.
>>>
>>> [ 7118.664573] EtherCAT 0-main-5: Acknowledged state PREOP.
>>>
>>> **
>>>
>>> You can see below, an extract of my source code which work correctly
>>> with other ethercat slaves
>>>
>>> static unsigned int offOutput[15];
>>>
>>> static unsigned int offBit[15];
>>>
>>> static ec_domain_state_t domain1_state = {};
>>>
>>> static ec_master_state_t master_state = {};
>>>
>>> static ec_pdo_entry_info_t slave_0_pdo_entries[] = {
>>>
>>> /* TxPdo 0x1a01 */
>>>
>>> {0x6000, 0x01, 1}, /* Status Latch C valid */
>>>
>>> {0x6000, 0x02, 1}, /* Status Latch extern valid */
>>>
>>> {0x6000, 0x03, 1}, /* Status set counter done */
>>>
>>> {0x6000, 0x06, 1}, /* Status of input status */
>>>
>>> {0x6000, 0x07, 1}, /* Status open circuit */
>>>
>>> {0x6000, 0x09, 1}, /* Status of input A */
>>>
>>> {0x6000, 0x0a, 1}, /* Status of input B */
>>>
>>> {0x6000, 0x0b, 1}, /* Status of input C */
>>>
>>> {0x6000, 0x0c, 1}, /* Status of input gate */
>>>
>>> {0x6000, 0x0d, 1}, /* Status of extern latch */
>>>
>>> {0x6000, 0x0e, 1}, /* Status sync error */
>>>
>>> {0x6000, 0x0f, 1}, /* Status TxPDO state */
>>>
>>> {0x6000, 0x10, 1}, /* Status TxPDO toogle */
>>>
>>> {0x6000, 0x11, 2}, /* counter value */
>>>
>>> {0x6000, 0x12, 2} /* latch value */
>>>
>>> };
>>>
>>> static ec_pdo_info_t slave_0_pdos[] = {
>>>
>>> {0x1a01, 15, &slave_0_pdo_entries[0]}
>>>
>>> };
>>>
>>> ec_sync_info_t slave_0_syncs[] = {
>>>
>>> {3, EC_DIR_INPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
>>>
>>> {0xff}
>>>
>>> };
>>>
>>> const static ec_pdo_entry_reg_t domain1_regs[] = {
>>>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x01, &offOutput[0],
>>> &offBit[0]},
>>>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x02, &offOutput[1],
>>> &offBit[1]},
>>>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x03, &offOutput[2],
>>> &offBit[2]},
>>>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x06, &offOutput[3],
>>> &offBit[3]},
>>>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x07, &offOutput[4],
>>> &offBit[4]},
>>>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x09, &offOutput[5],
>>> &offBit[5]},
>>>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0a, &offOutput[6],
>>> &offBit[6]},
>>>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0b, &offOutput[7],
>>> &offBit[7]},
>>>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0c, &offOutput[8],
>>> &offBit[8]},
>>>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0d, &offOutput[9],
>>> &offBit[9]},
>>>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0e, &offOutput[10],
>>> &offBit[10]},
>>>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0f, &offOutput[11],
>>> &offBit[11]},
>>>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x10, &offOutput[12],
>>> &offBit[12]},
>>>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x11, &offOutput[13],
>>> &offBit[13]},
>>>
>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x12, &offOutput[14],
>>> &offBit[14]},
>>>
>>> {}
>>>
>>> };
>>>
>>> static ec_master_t *master = nullptr;
>>>
>>> static ec_domain_t *domain1 = nullptr;
>>>
>>> static uint8_t *domain1_pd = nullptr;
>>>
>>> static ec_slave_config_t *sc_el5101 = 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_el5101 = ecrt_master_slave_config(master, 0, 5,
>>> 0x00000002, 0x13ed3052)) )
>>>
>>> {
>>>
>>> fprintf(stderr, "Failed to get slave configuration for
>>> AKD.\n");
>>>
>>> return false;
>>>
>>> }
>>>
>>> if (ecrt_slave_config_pdos(sc_el5101, EC_END, slave_0_syncs))
>>>
>>> return false;
>>>
>>> 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;
>>>
>>> }
>>>
>>> void Worker::loop()
>>>
>>> {
>>>
>>> mMustStop = false;
>>>
>>> while(!mMustStop)
>>>
>>> {
>>>
>>> QThread::usleep(1000);
>>>
>>> if(!mIsCycleStopped)
>>>
>>> {
>>>
>>> // receive process data
>>>
>>> ecrt_master_receive(master);
>>>
>>> ecrt_domain_process(domain1);
>>>
>>> uint16_t lCounterValue = EC_READ_U16(domain1_pd +
>>> offOutput[13]);
>>>
>>> qDebug() << "counter value :" << lCounterValue;
>>>
>>> ecrt_domain_queue(domain1);
>>>
>>> ecrt_master_send(master);
>>>
>>> }
>>>
>>> }
>>>
>>> ecrt_release_master(master);
>>>
>>> master = nullptr;
>>>
>>> emit finished();
>>>
>>> }
>>>
>>> Take care of yourself
>>>
>>> *Vincent BUSSIERES*
>>>
>>> *Responsable Technique Logiciel*
>>>
>>> **
>>>
>>> 1572337113342
>>>
>>> /ZE Ma Campagne/
>>>
>>> /36, Impasse Félix Nadar/
>>>
>>> /16000 ANGOULEME/
>>>
>>> /Tel: 33 (0)9.72.40.35.08/
>>>
>>> /www.hemeria-group.com
>>> <https://webmail.nexeya.fr/owa/redir.aspx?C=GK_BqKCZef7LtPZnqnd_LGYr1
>>> N
>>> G9sz4Smy3iKIwO-pXqtJC7VgzXCA..&URL=http%3a%2f%2fwww.hemeria-group.com
>>> %
>>> 2f>/ PAfin de contribuer au respect de l'environnement, merci de
>>> n'imprimer ce courriel qu'en cas de nécessité.
>>>
>>> Ce message et les fichiers pouvant être attachés sont confidentiels,
>>> réservés à l'usage unique des destinataires et n'engagent HEMERIA
>>> sous aucune forme que ce soit.
>>> This email and any files transmitted with it are confidential,
>>> intented solely for the unique use of the recipients and don't commit HEMERIA.
>>>
>>> **
>>>
>>> **
>>>
>>>
>>> _______________________________________________
>>> etherlab-users mailing list
>>> etherlab-users at etherlab.org
>>> http://lists.etherlab.org/mailman/listinfo/etherlab-users
>>>
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