[Etherlab-users] Communicate with slave via terminal

Sebastien BLANCHET blanchet at iram.fr
Tue Feb 23 18:50:11 CET 2021


Could you specify the exact model of your slave ?

Could you post the output of
"ethercat cstruct -p0"

Sebastien BLANCHET

Le 23/02/2021 à 18:24, Gabriel Forstner a écrit :
> Dear etherlab-users,
> I am quite new to the use of ethercat in linux and struggling to get a 
> particular slave from state PREOP to OP, and to read values of this 
> slave. I have found some commends on this topic already, where it is 
> suggested to do a “reg_write” at “0x500 -tbool 1”. Other suggested to 
> generate a SII file out of an XML file with TwinCAT and to download it 
> to the slave. I did both but without success. The slave I am struggling 
> with is an absolute encoder, and the problem might be related to the 
> memory architecture of the EEPROM.
> I am using “ethercat version IgH EtherCAT master 1.5.2” on “Ubuntu 
> 20.04.2 LTS” with “uname -r 5.4.84-rt47” kernel.
> First, I am wondering if it is required to have an application in order 
> to communicate with slaves or is this also possible via the terminal. I 
> can do the following in the terminal:
>   * When I enter “sudo ethercat slaves” all connected slaves a listed,
>     so I assume that the bus topology is correctly recognized.
>   * I can list all sdos with “sudo ethercat sdos -p0”, e.g., SDO 0x6004,
>     "Position value" 0x6004:00, r-r-r-, uint32, 32 bit, "SubIndex 000".
>   * I *do not* receive the correct position values, e.g., when I read
>     the position sdo with “sudo ethercat upload -p0 -tuint32 0x6004 0” I
>     receive “0x00000000 0”. When I enter ”dmesg” I receive three error
>     massages: “SDO download 0x6004 (4 bytes) aborted.”, “SDO abort
>     message 0x06010000: "Unsupported access to an object".”, and “Failed
>     to process SDO request.”. However, a meaningful value is displayed
>     in TwinCAT.
>   * I *cannot* change the state of the slaves to OP via the terminal.
> Second, I am wondering if the reg_write can be done in the terminal 
> (which appears not work in my case):
>  1. Change state “sudo ethercat state -p0 INIT” works.
>  2. Do “sudo ethercat -p0 reg_write 0x500 -tbool 1” appear to work.
>  3. Change state “sudo ethercat state -p0 PREOP” works.
>  4. Change state “sudo ethercat state -p0 SAFEOP” *does not work*. When
>     I enter ”dmesg” I receive two error massages: “Failed to set SAFEOP
>     state, slave refused state change (PREOP + ERROR)” and “AL status
>     message 0x001E: "Invalid input configuration”.”.
> I would appreciate it a lot if somebody could answer me my question!
> Kind regards,
> Gabriel
> _____________________________________________________________________________
> *Gabriel Forstner*, /Senior Software and Automation Engineer /
> CorPower Ocean *
> *Västberga Allé 60, 126 30 Hägersten
> M: +46 73 155 88 88
> www.corpowerocean.com<http://www.corpowerocean.com/>

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