[etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue

Gavin Lambert gavin.lambert at tomra.com
Thu May 28 01:20:35 CEST 2020


No, that’s not correct.

The point where it is checking for the zero index is in the pdo_entry_reg_t array, which does not have any zero indexes in your example – the gap entries appear in the pdo_entry_info_t instead, which has a different rule for termination.

Your “fix” actually does nothing at all (ie. it will register nothing), because the calculation for nbRegs is incorrect; it’s based on the size of the pointer, not the size of the array.


Gavin Lambert
Senior Software Developer

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From: BUSSIERES Vincent
Sent: Thursday, 28 May 2020 01:33
To: Michael Reeder <mr at datatroniq.com>; etherlab-users at etherlab.org
Subject: Re: [etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue

Dear all,

I solved my issue.
There is a bug in « ecrt_domain_reg_pdo_entry_list » when there is a gap. Indeed we exit from for loop when index is 0 (end of array ec_pdo_entry_reg_t => {}). For gap we mustn’t exit from for loop.

int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
        const ec_pdo_entry_reg_t *regs)
{
    const ec_pdo_entry_reg_t *reg;
    ec_slave_config_t *sc;
    int ret;

    EC_MASTER_DBG(domain->master, 1, "ecrt_domain_reg_pdo_entry_list("
            "domain = 0x%p, regs = 0x%p)\n", domain, regs);

    for (reg = regs; reg->index; reg++) {
        sc = ecrt_master_slave_config_err(domain->master, reg->alias,
                reg->position, reg->vendor_id, reg->product_code);
        if (IS_ERR(sc))
            return PTR_ERR(sc);

        ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
                        reg->subindex, domain, reg->bit_position);
        if (ret < 0)
            return ret;

        *reg->offset = ret;
    }

    return 0;
}


In my app, I replace this function with ecrt_slave_config_reg_pdo_entry calls.

Otherwise, we can correct this function by :

int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
        const ec_pdo_entry_reg_t *regs)
{
    const ec_pdo_entry_reg_t *reg;
    ec_slave_config_t *sc;
    int ret;
    int nbRegs;

    EC_MASTER_DBG(domain->master, 1, "ecrt_domain_reg_pdo_entry_list("
            "domain = 0x%p, regs = 0x%p)\n", domain, regs);

    nbRegs = sizeof(regs) / sizeof(ec_pdo_entry_reg_t) ;

    for (int i = 0; i < nbRegs-1 ; i++)            // -1 because of {}
        reg = regs+i ;
        sc = ecrt_master_slave_config_err(domain->master, reg->alias,
                reg->position, reg->vendor_id, reg->product_code);
        if (IS_ERR(sc))
            return PTR_ERR(sc);

        ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
                        reg->subindex, domain, reg->bit_position);
        if (ret < 0)
            return ret;

        *reg->offset = ret;
    }

    return 0;
}


Regards

Vincent BUSSIERES
Responsable Technique Logiciel

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De : Michael Reeder <mr at datatroniq.com<mailto:mr at datatroniq.com>>
Envoyé : mardi 26 mai 2020 21:56
À : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com<mailto:vincent.bussieres at hemeria-group.com>>; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Objet : Re: [etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue


Hi,

I would try to read the values from the domain in one block instead of seperatly.
like
const static ec_pdo_entry_reg_t domain1_regs[] = {
    {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x01, &offOutput[0]}
};
instead of

>>>>> 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],
...

And then extract the different bits and bytes manually.
I worked with a EL6731 card and in one setting it had two PDOs (0x6000 0x1 and 0x6000 0x2) but I had to read them as one , otherwise the second part was 0 similar to your problem.
You could also try to group them like in TwinCat:

const static ec_pdo_entry_reg_t domain1_regs[] = {
    {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x01, &offOutput[0]}, // status bits grouped like TC
    {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x11, &offOutput[1]},
    {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x12, &offOutput[2]},
};

Good luck,
Michael Reeder

On 26.05.20 18:07, BUSSIERES Vincent wrote:
I think issue is due to gap in PDO with index 0x0000 but I don’t know how to solve it.
I am using Gavin patchset 20190904.

I read to use ecrt_domain_reg_pdo_entry() instead of ecrt_domain_reg_pdo_entry_list() but I don’t fund this function.

Regards

Vincent BUSSIERES
Responsable Technique Logiciel

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De : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com><mailto:vincent.bussieres at hemeria-group.com>
Envoyé : mardi 26 mai 2020 17:25
À : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com><mailto:vincent.bussieres at hemeria-group.com>; Graeme Foot <Graeme.Foot at touchcut.com><mailto:Graeme.Foot at touchcut.com>; Richard Hacker <ha at igh.de><mailto:ha at igh.de>; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Objet : RE: [etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue

I also noticed that ecrt_domain_reg_pdo_entry_list doesn’t return error, but after this function call, all offsets in ec_pdo_entry_reg_t are still set to 0.
Does someone have an idea ?

Regards.

Vincent BUSSIERES
Responsable Technique Logiciel

[cid:image001.png at 01D634DF.C4324AF0]
ZE Ma Campagne
36, Impasse Félix Nadar
16000 ANGOULEME
Tel: 33 (0)9.72.40.35.08
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De : etherlab-users <etherlab-users-bounces at etherlab.org<mailto:etherlab-users-bounces at etherlab.org>> De la part de BUSSIERES Vincent
Envoyé : mardi 26 mai 2020 11:03
À : Graeme Foot <Graeme.Foot at touchcut.com<mailto:Graeme.Foot at touchcut.com>>; Richard Hacker <ha at igh.de<mailto:ha at igh.de>>; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Objet : Re: [etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue

I run « cstruct » command after repowered module and I get mapping below. It’s a bit strange because we can notice that unlike warning message, objects 0x1801 are replaced with 0x1800 and latch value and counter values are on 32 bits.
Moreover I configure debug level to 2 and compare frames received in dmesg before and after turned encoder axis. Frames received seem to be simular, strange behaviour. It looks like we need to activate something on the module, but in twincat counter value is sended automatically.

Regards

/* Master 0, Slave 1, "EL5101-0010"
* Vendor ID:       0x00000002
* Product code:    0x13ed3052
* Revision number: 0x0013000a
*/

ec_pdo_entry_info_t slave_1_pdo_entries[] = {
    {0x7000, 0x01, 1},
    {0x7000, 0x02, 1},
    {0x7000, 0x03, 1},
    {0x7000, 0x04, 1},
    {0x0000, 0x00, 4}, /* Gap */
    {0x0000, 0x00, 8}, /* Gap */
    {0x7000, 0x11, 32},
    {0x6000, 0x01, 1},
    {0x6000, 0x02, 1},
    {0x6000, 0x03, 1},
    {0x0000, 0x00, 2}, /* Gap */
    {0x6000, 0x06, 1},
    {0x6000, 0x07, 1},
    {0x0000, 0x00, 1}, /* Gap */
    {0x6000, 0x09, 1},
    {0x6000, 0x0a, 1},
    {0x6000, 0x0b, 1},
    {0x6000, 0x0c, 1},
    {0x6000, 0x0d, 1},
    {0x1c32, 0x20, 1},
    {0x1800, 0x07, 1},
    {0x1800, 0x09, 1},
    {0x6000, 0x11, 32},
    {0x6000, 0x12, 32},
};

ec_pdo_info_t slave_1_pdos[] = {
    {0x1600, 7, slave_1_pdo_entries + 0},
    {0x1a00, 17, slave_1_pdo_entries + 7},
};

ec_sync_info_t slave_1_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, slave_1_pdos + 0, EC_WD_DISABLE},
    {3, EC_DIR_INPUT, 1, slave_1_pdos + 1, EC_WD_DISABLE},
    {0xff}
};


[ 4532.066259] EtherCAT DEBUG 0: Sending frame:
[ 4532.066260] EtherCAT DEBUG: FF FF FF FF FF FF 68 05 CA 8B CE EB 88 A4 0E 10
[ 4532.066273] EtherCAT DEBUG: 04 1A 01 00 30 01 02 00 00 00 00 00 00 00 00 00
[ 4532.066286] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 4532.066299] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
[ 4532.074208] EtherCAT DEBUG 0: Received frame:
[ 4532.074210] EtherCAT DEBUG: FF FF FF FF FF FF 6A 05 CA 8B CE EB 88 A4 0E 10
[ 4532.074229] EtherCAT DEBUG: 04 1A 01 00 30 01 02 00 00 00 02 00 01 00 00 00
[ 4532.074247] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 4532.074264] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
[ 4532.074285] EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
[ 4532.074287] EtherCAT DEBUG 0: Adding datagram 0x1B
[ 4532.074289] EtherCAT DEBUG 0: frame size: 46
[ 4532.074290] EtherCAT DEBUG 0: Sending frame:
[ 4532.074291] EtherCAT DEBUG: FF FF FF FF FF FF 68 05 CA 8B CE EB 88 A4 0E 10
[ 4532.074309] EtherCAT DEBUG: 04 1B 02 00 30 01 02 00 00 00 00 00 00 00 00 00
[ 4532.074326] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 4532.074343] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
[ 4532.082208] EtherCAT DEBUG 0: Received frame:
[ 4532.082210] EtherCAT DEBUG: FF FF FF FF FF FF 6A 05 CA 8B CE EB 88 A4 0E 10
[ 4532.082230] EtherCAT DEBUG: 04 1B 02 00 30 01 02 00 00 00 02 00 01 00 00 00
[ 4532.082247] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 4532.082264] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
[ 4532.082287] EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
[ 4532.082289] EtherCAT DEBUG 0: Adding datagram 0x1C
[ 4532.082292] EtherCAT DEBUG 0: frame size: 46

encoder axis turned

[ 5395.149869] EtherCAT DEBUG 0: Sending frame:
[ 5395.149869] EtherCAT DEBUG: FF FF FF FF FF FF 68 05 CA 8B CE EB 88 A4 0E 10
[ 5395.149879] EtherCAT DEBUG: 04 95 01 00 30 01 02 00 00 00 00 00 00 00 00 00
[ 5395.149889] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 5395.149899] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
[ 5395.157812] EtherCAT DEBUG 0: Received frame:
[ 5395.157813] EtherCAT DEBUG: FF FF FF FF FF FF 6A 05 CA 8B CE EB 88 A4 0E 10
[ 5395.157824] EtherCAT DEBUG: 04 95 01 00 30 01 02 00 00 00 02 00 01 00 00 00
[ 5395.157834] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 5395.157843] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
[ 5395.157856] EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
[ 5395.157857] EtherCAT DEBUG 0: Adding datagram 0x96
[ 5395.157858] EtherCAT DEBUG 0: frame size: 46
[ 5395.157859] EtherCAT DEBUG 0: Sending frame:
[ 5395.157860] EtherCAT DEBUG: FF FF FF FF FF FF 68 05 CA 8B CE EB 88 A4 0E 10
[ 5395.157870] EtherCAT DEBUG: 04 96 02 00 30 01 02 00 00 00 00 00 00 00 00 00
[ 5395.157879] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 5395.157889] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
[ 5395.165810] EtherCAT DEBUG 0: Received frame:
[ 5395.165811] EtherCAT DEBUG: FF FF FF FF FF FF 6A 05 CA 8B CE EB 88 A4 0E 10
[ 5395.165822] EtherCAT DEBUG: 04 96 02 00 30 01 02 00 00 00 02 00 01 00 00 00
[ 5395.165831] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 5395.165841] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
[ 5395.165853] EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
[ 5395.165854] EtherCAT DEBUG 0: Adding datagram 0x97
[ 5395.165855] EtherCAT DEBUG 0: frame size: 46

Vincent BUSSIERES
Responsable Technique Logiciel

[cid:image001.png at 01D634DF.C4324AF0]
ZE Ma Campagne
36, Impasse Félix Nadar
16000 ANGOULEME
Tel: 33 (0)9.72.40.35.08
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De : Graeme Foot <Graeme.Foot at touchcut.com<mailto:Graeme.Foot at touchcut.com>>
Envoyé : mardi 26 mai 2020 00:07
À : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com<mailto:vincent.bussieres at hemeria-group.com>>; Richard Hacker <ha at igh.de<mailto:ha at igh.de>>; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Objet : RE: [etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue


Hi,



You need to pay attention to those warnings.  You will not get the warning again until the module it repowered.  (The modules interface mappings get changed, so no further warnings and doing an "ethercat struct" command will return you mappings, but internally they will be ignored.)



Change your struct to match the "Currently mapped PDO entries".



Currently mapped PDO entries:     Entries to map:

0x6000:01/1                       0x6000:01/1

0x6000:02/1                       0x6000:02/1

0x6000:03/1                       0x6000:03/1

0x0000:00/2                       0x0000:00/2

0x6000:06/1                       0x6000:06/1

0x6000:07/1                       0x6000:07/1

0x0000:00/1                       0x0000:00/1

0x6000:09/1                       0x6000:09/1

0x6000:0A/1                       0x6000:0A/1

0x6000:0B/1                       0x6000:0B/1

0x6000:0C/1                       0x6000:0C/1

0x6000:0D/1                       0x6000:0D/1

0x1C32:20/1                       0x6000:0E/1

0x1801:07/1                       0x6000:0F/1

0x1801:09/1                       0x6000:10/1

0x6000:11/16                      0x6000:11/16

0x6000:12/16.                     0x6000:12/16



Of course, that still may not help since the position mapping still looks correct.



Regards,

Graeme.



-----Original Message-----
From: etherlab-users <etherlab-users-bounces at etherlab.org<mailto:etherlab-users-bounces at etherlab.org>> On Behalf Of BUSSIERES Vincent
Sent: Tuesday, 26 May 2020 3:38 AM
To: Richard Hacker <ha at igh.de<mailto:ha at igh.de>>; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Subject: Re: [etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue



Hello Etherlab users,



I'm still struggling with the Beckhoff EL5101-0010 encoder module. I configure PDO like Twincat but I still cannot read the encoder position, I always read 0.

I noticed that after the first start of the module I had a warning " Slave does not support changing the PDO mapping!".

But after configuration, I run command ethercat xml, and mapping seems to be OK. Slave is in OP state.

If I restart configuration without restart module, I no longer have warning but I still read 0.



I have no more ideas, this module is the only slave on the network, counter value can be read with Twincat.



Regards



[30811.918395] EtherCAT DEBUG: 10 12 00 60

[30811.918400] EtherCAT DEBUG 0-main-1: PDO entry 0x6000:12, 16 bit, "???".

[30811.918402] EtherCAT WARNING 0-main-1: Slave does not support changing the PDO mapping!

[30811.918403] EtherCAT WARNING 0-main-1: Currently mapped PDO entries: 0x6000:01/1 0x6000:02/1 0x6000:03/1 0x0000:00/2 0x6000:06/1 0x6000:07/1 0x0000:00/1 0x6000:09/1 0x6000:0A/1 0x6000:0B/1 0x6000:0C/1 0x6000:0D/1 0x1C32:20/1 0x1801:07/1 0x1801:09/1 0x6000:11/16 0x6000:12/16. Entries to map: 0x6000:01/1 0x6000:02/1 0x6000:03/1 0x0000:00/2 0x6000:06/1 0x6000:07/1 0x0000:00/1 0x6000:09/1 0x6000:0A/1 0x6000:0B/1 0x6000:0C/1 0x6000:0D/1 0x6000:0E/1 0x6000:0F/1 0x6000:10/1 0x6000:11/16 0x6000:12/16

[30811.918436] EtherCAT DEBUG 0-main-1: Setting PDO assignment of SM3:

[30811.918437] EtherCAT DEBUG 0-main-1: Currently assigned PDOs: 0x1A00. PDOs to assign: 0x1A01

[30811.918440] EtherCAT DEBUG 0-main-1: Setting number of assigned PDOs to zero.

[30811.918442] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C13:00.

[30811.918442] EtherCAT DEBUG: 00

[30811.918444] EtherCAT DEBUG 0-main-1: Expedited download request:

[30811.918444] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00

[30811.946384] EtherCAT DEBUG 0-main-1: Download response:

[30811.946385] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00

[30811.946395] EtherCAT DEBUG 0-main-1: Assigning PDO 0x1A01 at position 1.

[30811.946396] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C13:01.

[30811.946397] EtherCAT DEBUG: 01 1A

[30811.946399] EtherCAT DEBUG 0-main-1: Expedited download request:

[30811.946399] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00

[30811.974385] EtherCAT DEBUG 0-main-1: Download response:

[30811.974386] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00

[30811.974393] EtherCAT DEBUG 0-main-1: Setting number of assigned PDOs to 1.

[30811.974394] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C13:00.

[30811.974395] EtherCAT DEBUG: 01

[30811.974397] EtherCAT DEBUG 0-main-1: Expedited download request:

[30811.974397] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00

[30812.002429] EtherCAT DEBUG 0-main-1: Download response:

[30812.002430] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00

[30812.002441] EtherCAT DEBUG 0-main-1: Successfully configured PDO assignment of SM3.

[30812.002446] EtherCAT DEBUG 0-main-1: SM2: Addr 0x1100, Size   4, Ctrl 0x24, En 1

[30812.002448] EtherCAT DEBUG 0-main-1: SM3: Addr 0x1180, Size   6, Ctrl 0x20, En 1

[30812.010431] EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x00000000, Size   4, PhysAddr 0x1100, SM2, Dir out

[30812.021655] EtherCAT 0: Domain 0: Working counter changed to 1/1.

[30812.034432] EtherCAT DEBUG 0-main-1: Now in SAFEOP.

[30812.050464] EtherCAT 0: Slave states on main device: PREOP, OP.

[30812.050467] EtherCAT DEBUG 0-main-1: Now in OP. Finished configuration.





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<https://eur02.safelinks.protection.outlook.com/?url=http%3A%2F%2Fwww.hemeria-group.com%2F&data=02%7C01%7Cgavin.lambert%40tomra.com%7Cb542ae80646f44d65fa208d802428461%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0%7C637261832004633315&sdata=he3L5%2BpPmOlduIM48llfC6MwcjGySATewLmEFUoZxHY%3D&reserved=0>

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-----Message d'origine-----

De : Richard Hacker <ha at igh.de<mailto:ha at igh.de>>

Envoyé : vendredi 15 mai 2020 18:45

À : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com<mailto:vincent.bussieres at hemeria-group.com>>; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>

Objet : Re: [etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue



You do need them, exactly like that! Including the bit stuffing! What's

more, you cannot join two consecutive stuffings to one either.



Am 15/05/2020 um 15.50 schrieb BUSSIERES Vincent:

> According to you, does index with 0x0000 can be problematic ?

> They are used to make bit stuffing.

>

> static ec_pdo_entry_info_t slave_0_pdo_entries[] = {

>      /* RxPdo 0x1601 */

>      {0x7000, 0x01, 1},      /* Control enable latch */

>      {0x7000, 0x02, 1},      /* Control enable latch extern on positive edge */

>      {0x7000, 0x03, 1},      /* Control set counter */

>      {0x7000, 0x04, 1},      /* Control enable latch extern on negative edge */

>      {0x0000, 0x00, 4},

>      {0x0000, 0x00, 8},

>      {0x7000, 0x11, 16},      /* Control enable latch extern on negative edge */

>

>      /* TxPdo 0x1a01 */

>      {0x6000, 0x01, 1},      /* Status Latch C valid */

>      {0x6000, 0x02, 1},      /* Status Latch extern valid */

>      {0x6000, 0x03, 1},      /* Status set counter done */

>      {0x0000, 0x00, 2},

>      {0x6000, 0x06, 1},      /* Status of input status */

>      {0x6000, 0x07, 1},      /* Status open circuit */

>      {0x0000, 0x00, 1},

>      {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, 16},     /* counter value */

>      {0x6000, 0x12, 16}      /* latch value */

> };

>

> static ec_pdo_info_t slave_0_pdos[] = {

>      {0x1601, 7, &slave_0_pdo_entries[0]},

>      {0x1a01, 17, &slave_0_pdo_entries[7]}

> };

>

> ec_sync_info_t slave_0_syncs[] = {

>      {0, EC_DIR_OUTPUT, 0, nullptr, EC_WD_DISABLE},

>      {1, EC_DIR_INPUT, 0, nullptr, EC_WD_DISABLE},

>      {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},

>      {3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_ENABLE},

>      {0xff}

> };

>

> const static ec_pdo_entry_reg_t domain1_regs[] = {

>      /* outputs */

>      {0, 5, 0x00000002, 0x13ed3052, 0x7000, 0x01, &offOutput[0], &offBit[0]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x7000, 0x02, &offOutput[1], &offBit[1]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x7000, 0x03, &offOutput[2], &offBit[2]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x7000, 0x04, &offOutput[3], &offBit[3]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x0000, 0x00, &offOutput[4], &offBit[4]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x0000, 0x00, &offOutput[5], &offBit[5]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x7000, 0x11, &offOutput[6], &offBit[6]},

>

>      /* inputs */

>      {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x01, &offOutput[7], &offBit[7]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x02, &offOutput[8], &offBit[8]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x03, &offOutput[9], &offBit[9]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x0000, 0x00, &offOutput[10], &offBit[10]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x06, &offOutput[11], &offBit[11]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x07, &offOutput[12], &offBit[12]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x0000, 0x00, &offOutput[13], &offBit[13]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x09, &offOutput[14], &offBit[14]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0a, &offOutput[15], &offBit[15]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0b, &offOutput[16], &offBit[16]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0c, &offOutput[17], &offBit[17]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0d, &offOutput[18], &offBit[18]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0e, &offOutput[19], &offBit[19]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0f, &offOutput[20], &offBit[20]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x10, &offOutput[21], &offBit[21]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x11, &offOutput[22], &offBit[22]},

>      {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x12, &offOutput[23], &offBit[23]},

>      {}

> };

>

> Cordialement

>

> 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<https://eur02.safelinks.protection.outlook.com/?url=http%3A%2F%2Fwww.hemeria-group.com%2F&data=02%7C01%7Cgavin.lambert%40tomra.com%7Cb542ae80646f44d65fa208d802428461%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0%7C637261832004633315&sdata=he3L5%2BpPmOlduIM48llfC6MwcjGySATewLmEFUoZxHY%3D&reserved=0>

>  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<mailto:ha at igh.de>>

> Envoyé : vendredi 15 mai 2020 15:47

> À : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com<mailto:vincent.bussieres at hemeria-group.com>>; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>

> Objet : Re: [etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue

>

>   From my memory, I just write zeros to the control register.

>

>

> Am 15/05/2020 um 14.32 schrieb BUSSIERES Vincent:

>> Thanks Nico,

>>

>> What’s you describe is for EL5101-0000 and EL5101-0090 modules, I am

>> using EL5101-0010 with only Index 0x1600 and 0x1601.

>>

>> Do you need to write something in encoder control register in order to

>> read position ? Is the position always filled in?

>>

>> Regards

>>

>> Cordialement

>>

>> *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_LGYr1NG9sz4Smy3iKIwO-pXqtJC7VgzXCA..&URL=http%3a%2f%2fwww.hemeria-group.com%2f<https://eur02.safelinks.protection.outlook.com/?url=https%3A%2F%2Fwebmail.nexeya.fr%2Fowa%2Fredir.aspx%3FC%3DGK_BqKCZef7LtPZnqnd_LGYr1NG9sz4Smy3iKIwO-pXqtJC7VgzXCA..%26URL%3Dhttp%253a%252f%252fwww.hemeria-group.com%252f&data=02%7C01%7Cgavin.lambert%40tomra.com%7Cb542ae80646f44d65fa208d802428461%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0%7C637261832004643312&sdata=MVDq8WOjhjavfl%2BLdLKF%2BXxP9%2B0zkZsltmaGByNUHZ0%3D&reserved=0>>/

>> 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.

>>

>> **

>>

>> **

>>

>> *De :*Kivel Niko (PSI) <niko.kivel at psi.ch<mailto:niko.kivel at psi.ch>>

>> *Envoyé :* vendredi 15 mai 2020 14:14

>> *À :* Richard Hacker <ha at igh.de<mailto:ha at igh.de>>; BUSSIERES Vincent

>> <vincent.bussieres at hemeria-group.com<mailto:vincent.bussieres at hemeria-group.com>>; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>

>> *Objet :* Re: [etherlab-users] Beckhoff encoder interface EL5101-0010

>> mapping issue

>>

>> 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<https://eur02.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fpaulscherrerinstitute%2Fecmccfg%2Fblob%2F19470cf1c9b71e52777a06f641394d85bc874918%2Fhardware%2FBeckhoff_slaves%2FecmcEL5101_32bit.cmd%23L14&data=02%7C01%7Cgavin.lambert%40tomra.com%7Cb542ae80646f44d65fa208d802428461%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0%7C637261832004643312&sdata=ziN%2FMVuxKCNf7JkSkpuHFT6VkUALq0jTjdCfwbe54O8%3D&reserved=0>

>>

>> 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<mailto:niko.kivel at psi.ch> <mailto:niko.kivel at psi.ch>

>>

>> ------------------------------------------------------------------------

>>

>> *From:*etherlab-users <etherlab-users-bounces at etherlab.org<mailto:etherlab-users-bounces at etherlab.org>

>> <mailto:etherlab-users-bounces at etherlab.org>> on behalf of Richard

>> Hacker <ha at igh.de <mailto:ha at igh.de<mailto:ha at igh.de%20%3cmailto:ha at igh.de>>>

>> *Sent:* Friday, May 15, 2020 2:00:03 PM

>> *To:* BUSSIERES Vincent; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>

>> <mailto: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<https://eur02.safelinks.protection.outlook.com/?url=http%3A%2F%2Fwww.hemeria-group.com%2F&data=02%7C01%7Cgavin.lambert%40tomra.com%7Cb542ae80646f44d65fa208d802428461%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0%7C637261832004653304&sdata=WiVLCLdkoIaHf2z%2Fgoe%2BIVBP9NsZkqy1FYozVmLnvqY%3D&reserved=0> <http://www.hemeria-group.com<https://eur02.safelinks.protection.outlook.com/?url=http%3A%2F%2Fwww.hemeria-group.com%2F&data=02%7C01%7Cgavin.lambert%40tomra.com%7Cb542ae80646f44d65fa208d802428461%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0%7C637261832004653304&sdata=WiVLCLdkoIaHf2z%2Fgoe%2BIVBP9NsZkqy1FYozVmLnvqY%3D&reserved=0>>

>>> P 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 <mailto:ha at igh.de<mailto:ha at igh.de%20%3cmailto:ha at igh.de>>>

>>> Envoyé : jeudi 14 mai 2020 17:05

>>> À : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com<mailto:vincent.bussieres at hemeria-group.com>

>> <mailto:vincent.bussieres at hemeria-group.com>>;

>> etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org> <mailto: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<https://eur02.safelinks.protection.outlook.com/?url=http%3A%2F%2Fwww.hemeria-group.com%2F&data=02%7C01%7Cgavin.lambert%40tomra.com%7Cb542ae80646f44d65fa208d802428461%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0%7C637261832004663300&sdata=dnu1dplxCZb7fpFoWT5WGAzqSh6sFV9422NFy%2BceOiY%3D&reserved=0> <http://www.hemeria-group.com<https://eur02.safelinks.protection.outlook.com/?url=http%3A%2F%2Fwww.hemeria-group.com%2F&data=02%7C01%7Cgavin.lambert%40tomra.com%7Cb542ae80646f44d65fa208d802428461%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0%7C637261832004663300&sdata=dnu1dplxCZb7fpFoWT5WGAzqSh6sFV9422NFy%2BceOiY%3D&reserved=0>>

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>>>>

>>>> -----Message d'origine-----

>>>> De : Richard Hacker <ha at igh.de <mailto:ha at igh.de<mailto:ha at igh.de%20%3cmailto:ha at igh.de>>>

>>>> Envoyé : jeudi 14 mai 2020 16:27

>>>> À : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com<mailto:vincent.bussieres at hemeria-group.com>

>> <mailto:vincent.bussieres at hemeria-group.com>>;

>>>> etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org> <mailto: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<https://eur02.safelinks.protection.outlook.com/?url=https%3A%2F%2Fwebmail.nexeya.fr%2Fowa%2Fredir.aspx%3FC%3DGK_BqKCZef7LtPZnqnd_LGYr1&data=02%7C01%7Cgavin.lambert%40tomra.com%7Cb542ae80646f44d65fa208d802428461%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0%7C637261832004673293&sdata=xfWxTE2mLDwuZZADrr7D6MOHK76CojUFhJbEPsMmbjY%3D&reserved=0>

>>>>> 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<mailto:etherlab-users at etherlab.org>

>>>>> http://lists.etherlab.org/mailman/listinfo/etherlab-users<https://eur02.safelinks.protection.outlook.com/?url=http%3A%2F%2Flists.etherlab.org%2Fmailman%2Flistinfo%2Fetherlab-users&data=02%7C01%7Cgavin.lambert%40tomra.com%7Cb542ae80646f44d65fa208d802428461%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0%7C637261832004673293&sdata=VV0g9MlqsStg79NvCq7KiDetvbcZ06P2MxzT%2Bt7%2FMcg%3D&reserved=0>

>>>>>

>> _______________________________________________

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>> http://lists.etherlab.org/mailman/listinfo/etherlab-users<https://eur02.safelinks.protection.outlook.com/?url=http%3A%2F%2Flists.etherlab.org%2Fmailman%2Flistinfo%2Fetherlab-users&data=02%7C01%7Cgavin.lambert%40tomra.com%7Cb542ae80646f44d65fa208d802428461%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0%7C637261832004683288&sdata=kLkbYm2C56Zxy%2FP9GO4MqKlray%2B395vX%2BKuwHhsHBaA%3D&reserved=0>

>>

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