[Etherlab-users] Communicate with slave via terminal

[Sebastien BLANCHET]

Hi,

I have tested with a Beckhoff EL5001-0011.
I can access the counter value in PDO mode (with a C application) or in 
SDO mode (with the command "ethercat sdos")

Maybe your device supports only PDO access for some members (even if 
they are listed in the command "ethercat sdos")

You should try to write a small C application like in 
example/user/main.c   to see if it works better.

-- 
Sebastien BLANCHET


On 2/24/21 7:39 AM, Gabriel Forstner wrote:
> Hi Sebastien,
> 
> Thanks for your reply! The output of the cstruct command is as follows:
> 
> ethercat cstruct -p0
> /* Master 0, Slave 0, "LeineAndLinde Encoder"
>   * Vendor ID:       0x00000194
>   * Product code:    0x00000600
>   * Revision number: 0x00000001
>   */
> 
> ec_pdo_entry_info_t slave_0_pdo_entries[] = {
>      {0x6004, 0x00, 32}, /* SubIndex 000 */
>      {0x1001, 0x00, 16}, /* SubIndex 000 */
>      {0x6503, 0x00, 16}, /* SubIndex 000 */
>      {0x6505, 0x00, 16}, /* SubIndex 000 */
>      {0x2060, 0x00, 32}, /* SubIndex 000 */
>      {0x6030, 0x00, 16}, /* SubIndex 000 */
>      {0x6040, 0x00, 16}, /* SubIndex 000 */
>      {0x2100, 0x00, 16}, /* SubIndex 000 */
> };
> 
> ec_pdo_info_t slave_0_pdos[] = {
>      {0x1a00, 8, slave_0_pdo_entries + 0}, /* Configurable TxPDO map with max 8 PDO */
> };
> 
> 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, 0, NULL, EC_WD_ENABLE},
>      {3, EC_DIR_INPUT, 1, slave_0_pdos + 0, EC_WD_DISABLE},
>      {0xff}
> };
> 
> Greetings,
> Gabriel
> 
> -----Original Message-----
> From: Etherlab-users <etherlab-users-bounces at etherlab.org> On Behalf Of Sebastien BLANCHET
> Sent: Tuesday, February 23, 2021 6:50 PM
> To: etherlab-users at etherlab.org
> Subject: Re: [Etherlab-users] Communicate with slave via terminal
> 
> Hi,
> 
> 
> 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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