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

[Richard Hacker]

Indeed, that looks exactly the same.

One thing to note is that
$ ethercat cstruct
must be executed  after a fresh power up of the slave and master 
(ethercat restart), without ever having started a master application... 
not that the slave simply returns its previous (maybe incorrect) setup.

Try to use your working Acontis master and figure out any configuration 
difference regarding PDO's. Are any SDOs being set with that master?


On 2021-03-04 08:34, Eibach, Dirk wrote:
> Hi Richard,
> 
>>> 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?
> 
> root at rosie:/home/dirk# ethercat config -v
> Alias: 0
> Position: 0
> Vendor Id: 0x0000060a
> Product code: 0x00000010
> Attached slave: 0 (PREOP)
> Watchdog divider: (Default)
> Watchdog intervals: (Default)
> SM2, Dir: Output, Watchdog: Enable
>    PDO 0x1608
>      PDO entry 0x7080:02, 16 bit
>    PDO 0x1609
>      PDO entry 0x7090:02, 16 bit
> SM3, Dir: Input, Watchdog: Disable
>    PDO 0x1a00
>      PDO entry 0x6000:02, 16 bit
>    PDO 0x1a01
>      PDO entry 0x6010:02, 16 bit
>    PDO 0x1a02
>      PDO entry 0x6020:05, 16 bit
>      PDO entry 0x6020:06, 16 bit
>      PDO entry 0x6020:07, 16 bit
>      PDO entry 0x6020:08, 16 bit
> SDO configuration:
>    None.
> IDN configuration:
>    None.
> 
> This seems a good match to the generated cstruct which was:
> root at rosie:/home/dirk# ethercat cstruct
> /* Master 0, Slave 0, "Coupling"
>   * Vendor ID:       0x0000060a
>   * Product code:    0x00000010
>   * Revision number: 0x00000001
>   */
> 
> ec_pdo_entry_info_t slave_0_pdo_entries[] = {
>      {0x7080, 0x02, 16},
>      {0x7090, 0x02, 16},
>      {0x6000, 0x02, 16},
>      {0x6010, 0x02, 16},
>      {0x6020, 0x05, 16},
>      {0x6020, 0x06, 16},
>      {0x6020, 0x07, 16},
>      {0x6020, 0x08, 16},
> };
> 
> ec_pdo_info_t slave_0_pdos[] = {
>      {0x1608, 1, slave_0_pdo_entries + 0},
>      {0x1609, 1, slave_0_pdo_entries + 1},
>      {0x1a00, 1, slave_0_pdo_entries + 2},
>      {0x1a01, 1, slave_0_pdo_entries + 3},
>      {0x1a02, 4, slave_0_pdo_entries + 4}, };
> 
> 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}
> };
> 

Mit freundlichem Gruß

Richard Hacker

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Richard Hacker M.Sc.
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