[Etherlab-users] Estun EE-R0: Invalid input configuration

Richard Hacker ha at igh.de
Wed Mar 3 20:05:02 CET 2021

Hi Dirk

> Hm, I am still missing something. When I connect some Beckhoff devices they run fine without any configuration at all:
> root at rosie:/home/dirk# ethercat slaves
> 0  0:0  OP  +  EK1818 EtherCAT-EA-Koppler (1A E-Bus, 8 K. Dig. Ein, 3ms, 4 K.
> 1  0:1  OP  +  EL6751 CANopen Master
It depends on the slave application! Complex slaves like those above may 
accept dynamic PDO reconfiguration upon startup, simple slaves like 
yours have a fixed application with fixed PDOs. They expect exactly one 
type of PDO configuration and nothing else. If it doesn't match as 
expected, it rejects a state change to SafeOP.

> [ 4773.005533] EtherCAT WARNING 0: No application time received up to now, but master already active.
> [ 4773.832891] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
> [ 4773.834891] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
> [ 4773.838889] EtherCAT 0-0: Acknowledged state PREOP.
> So this guy seems to be a little more tricky than the Beckhoff IOs. Any ideas?So what does
$ ethercat config
say when the application is running? Does it match?

- Richard

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