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

[Eibach, Dirk]

Hi Richard,

> 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.

the power up status of the slave is not working. It is a modular IO-system where the cards are (opposed to Beckhoff) not Ethercat-slaves. So you have to tell the it what is plugged by the PDO-configuration.
What I have done is: start the slave connected to the Acontis master and let it do the setup, then connect it (still powered up) to the Etherlab master and do the cstruct command. The PDO mapping matches what I have setup in the Acontis master.

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

Here are the InitCmds generated by the Acontis master. I don't see anything special, but the first two steps for clearing 0x1C12 and 0x1C13 which I have emulated with ecrt_slave_config_complete_sdo(), but it did not make any difference.
<InitCmds>
	<InitCmd Fixed="1">
		<Transition>PS</Transition>
		<Comment>
			<![CDATA[clear sm pdos (0x1C12)]]>
		</Comment>
		<Timeout>0</Timeout>
		<Ccs>1</Ccs>
		<Index>7186</Index>
		<SubIndex>0</SubIndex>
		<Data>00</Data>
	</InitCmd>
	<InitCmd Fixed="1">
		<Transition>PS</Transition>
		<Comment>
			<![CDATA[clear sm pdos (0x1C13)]]>
		</Comment>
		<Timeout>0</Timeout>
		<Ccs>1</Ccs>
		<Index>7187</Index>
		<SubIndex>0</SubIndex>
		<Data>00</Data>
	</InitCmd>
	<InitCmd CompleteAccess="1" Fixed="1">
		<Transition>PS</Transition>
		<Comment>
			<![CDATA[download pdo 0x1A00 entries]]>
		</Comment>
		<Timeout>0</Timeout>
		<Ccs>1</Ccs>
		<Index>6656</Index>
		<SubIndex>0</SubIndex>
		<Data>010010020060</Data>
	</InitCmd>
	<InitCmd CompleteAccess="1" Fixed="1">
		<Transition>PS</Transition>
		<Comment>
			<![CDATA[download pdo 0x1A01 entries]]>
		</Comment>
		<Timeout>0</Timeout>
		<Ccs>1</Ccs>
		<Index>6657</Index>
		<SubIndex>0</SubIndex>
		<Data>010010021060</Data>
	</InitCmd>
	<InitCmd CompleteAccess="1" Fixed="1">
		<Transition>PS</Transition>
		<Comment>
			<![CDATA[download pdo 0x1A02 entries]]>
		</Comment>
		<Timeout>0</Timeout>
		<Ccs>1</Ccs>
		<Index>6658</Index>
		<SubIndex>0</SubIndex>
		<Data>040010052060100620601007206010082060</Data>
	</InitCmd>
	<InitCmd CompleteAccess="1" Fixed="1">
		<Transition>PS</Transition>
		<Comment>
			<![CDATA[download pdo 0x1608 entries]]>
		</Comment>
		<Timeout>0</Timeout>
		<Ccs>1</Ccs>
		<Index>5640</Index>
		<SubIndex>0</SubIndex>
		<Data>010010028070</Data>
	</InitCmd>
	<InitCmd CompleteAccess="1" Fixed="1">
		<Transition>PS</Transition>
		<Comment>
			<![CDATA[download pdo 0x1609 entries]]>
		</Comment>
		<Timeout>0</Timeout>
		<Ccs>1</Ccs>
		<Index>5641</Index>
		<SubIndex>0</SubIndex>
		<Data>010010029070</Data>
	</InitCmd>
	<InitCmd CompleteAccess="1" Fixed="1">
		<Transition>PS</Transition>
		<Comment>
			<![CDATA[download pdo 0x1C12 index]]>
		</Comment>
		<Timeout>0</Timeout>
		<Ccs>1</Ccs>
		<Index>7186</Index>
		<SubIndex>0</SubIndex>
		<Data>020008160916</Data>
	</InitCmd>
	<InitCmd CompleteAccess="1" Fixed="1">
		<Transition>PS</Transition>
		<Comment>
			<![CDATA[download pdo 0x1C13 index]]>
		</Comment>
		<Timeout>0</Timeout>
		<Ccs>1</Ccs>
		<Index>7187</Index>
		<SubIndex>0</SubIndex>
		<Data>0300001a011a021a</Data>
	</InitCmd>
</InitCmds>