[Etherlab-users] Failed to configure mapping of PDO
BUSSIERES Vincent
vincent.bussieres at hemeria-group.com
Tue Sep 22 16:47:48 CEST 2020
Dear all,
I get the following error when I configure the mapping of PDO. I get this message one time after ecrt_master_send call in the cyclic task.
[16674.842444] EtherCAT: Requesting master 0...
[16674.842448] EtherCAT: Successfully requested master 0.
[16674.842716] EtherCAT 0: Domain0: Logical address 0x00000000, 20 byte, expected working counter 6.
[16674.842719] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 20 byte, type LRW at 000000000238e3cd.
[16674.842720] EtherCAT 0: Domain1: Logical address 0x00000014, 34 byte, expected working counter 3.
[16674.842721] EtherCAT 0: Datagram domain1-20-main: Logical offset 0x00000014, 34 byte, type LRW at 000000003e0db4fa.
[16674.842729] EtherCAT 0: Master thread exited.
[16674.842730] EtherCAT 0: Starting EtherCAT-OP thread.
[16674.842755] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[16674.862271] EtherCAT WARNING 0: No app_time received up to now, abort DC time offset calculation.
[16674.878270] EtherCAT 0: Slave states on main device: INIT, PREOP.
[16674.892270] EtherCAT 0: Slave states on main device: PREOP, OP.
[16674.919270] EtherCAT ERROR 0-main-0: SDO download 0x1605:00 (1 bytes) aborted.
[16674.919273] EtherCAT ERROR 0-main-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[16674.919274] EtherCAT WARNING 0-main-0: Failed to clear PDO mapping.
[16674.919275] EtherCAT WARNING 0-main-0: Currently mapped PDO entries: 0x607A:00/32 0x60FF:00/32 0x6071:00/16 0x6072:00/16 0x6040:00/16 0x6060:00/8 0x0000:00/8. Entries to map: 0x607A:00/32 0x60FF:00/32 0x6071:00/16 0x6072:00/16 0x6040:00/16 0x6060:00/8
[16674.919280] EtherCAT WARNING 0-main-0: Failed to configure mapping of PDO 0x1605.
[16674.926273] EtherCAT ERROR 0-main-0: SDO download 0x161D:00 (1 bytes) aborted.
[16674.926275] EtherCAT ERROR 0-main-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[16674.926277] EtherCAT WARNING 0-main-0: Failed to clear PDO mapping.
[16674.926277] EtherCAT WARNING 0-main-0: Currently mapped PDO entries: 0x60FE:01/32. Entries to map: 0x60FE:01/32
[16674.926280] EtherCAT WARNING 0-main-0: Failed to configure mapping of PDO 0x161D.
[16674.956269] EtherCAT ERROR 0-main-0: SDO download 0x1A00:00 (1 bytes) aborted.
[16674.956272] EtherCAT ERROR 0-main-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[16674.956273] EtherCAT WARNING 0-main-0: Failed to clear PDO mapping.
[16674.956273] EtherCAT WARNING 0-main-0: Currently mapped PDO entries: 0x6064:00/32 0x60FD:00/32 0x6041:00/16. Entries to map: 0x6064:00/32 0x60FD:00/32 0x6041:00/16
[16674.956276] EtherCAT WARNING 0-main-0: Failed to configure mapping of PDO 0x1A00.
[16674.962271] EtherCAT ERROR 0-main-0: SDO download 0x1A0B:00 (1 bytes) aborted.
[16674.962273] EtherCAT ERROR 0-main-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[16674.962275] EtherCAT WARNING 0-main-0: Failed to clear PDO mapping.
[16674.962276] EtherCAT WARNING 0-main-0: Currently mapped PDO entries: 0x6061:00/8 0x0000:00/8. Entries to map: 0x6061:00/8
[16674.962278] EtherCAT WARNING 0-main-0: Failed to configure mapping of PDO 0x1A0B.
[16674.968273] EtherCAT ERROR 0-main-0: SDO download 0x1A18:00 (1 bytes) aborted.
[16674.968274] EtherCAT ERROR 0-main-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[16674.968275] EtherCAT WARNING 0-main-0: Failed to clear PDO mapping.
[16674.968276] EtherCAT WARNING 0-main-0: Currently mapped PDO entries: 0x6079:00/32. Entries to map: 0x6079:00/32
[16674.968278] EtherCAT WARNING 0-main-0: Failed to configure mapping of PDO 0x1A18.
[16675.010271] EtherCAT 0: Slave states on main device: PREOP, SAFEOP, OP.
[16675.025267] EtherCAT 0: Slave states on main device: PREOP, OP.
Mapping seems to be OK and I can read and write in most PDOs.
[root at localhost user]# ethercat cstruct -a0 -p0
/* Master 0, Slave 0
* Vendor ID: 0x0000009a
* Product code: 0x00030924
* Revision number: 0x00010420
*/
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x607a, 0x00, 32},
{0x60ff, 0x00, 32},
{0x6071, 0x00, 16},
{0x6072, 0x00, 16},
{0x6040, 0x00, 16},
{0x6060, 0x00, 8},
{0x60fe, 0x01, 32},
{0x6064, 0x00, 32},
{0x60fd, 0x00, 32},
{0x6041, 0x00, 16},
{0x6061, 0x00, 8},
{0x6079, 0x00, 32},
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1605, 6, slave_0_pdo_entries + 0},
{0x161d, 1, slave_0_pdo_entries + 6},
{0x1a00, 3, slave_0_pdo_entries + 7},
{0x1a0b, 1, slave_0_pdo_entries + 10},
{0x1a18, 1, slave_0_pdo_entries + 11},
};
ec_sync_info_t slave_0_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 2, slave_0_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 3, slave_0_pdos + 2, EC_WD_DISABLE},
{0xff}
};
----------------------------------------------------------------------------------------------------------------------------------------
[root at localhost user]# ethercat pdos -a0 -p0
SM0: PhysAddr 0x1800, DefaultSize 140, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1900, DefaultSize 140, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 32, ControlRegister 0x64, Enable 1
RxPDO 0x1605 ""
PDO entry 0x607a:00, 32 bit, ""
PDO entry 0x60ff:00, 32 bit, ""
PDO entry 0x6071:00, 16 bit, ""
PDO entry 0x6072:00, 16 bit, ""
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x6060:00, 8 bit, ""
RxPDO 0x161d ""
PDO entry 0x60fe:01, 32 bit, ""
SM3: PhysAddr 0x1180, DefaultSize 32, ControlRegister 0x20, Enable 1
TxPDO 0x1a00 ""
PDO entry 0x6064:00, 32 bit, ""
PDO entry 0x60fd:00, 32 bit, ""
PDO entry 0x6041:00, 16 bit, ""
TxPDO 0x1a0b ""
PDO entry 0x6061:00, 8 bit, ""
TxPDO 0x1a18 ""
PDO entry 0x6079:00, 32 bit, ""
[root at localhost user]#
Have you got an idea ?
Regards
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>
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.
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20200922/ab6ff38d/attachment-0001.htm>
-------------- next part --------------
A non-text attachment was scrubbed...
Name: image001.png
Type: image/png
Size: 5034 bytes
Desc: image001.png
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20200922/ab6ff38d/attachment-0001.png>
More information about the Etherlab-users
mailing list