[Etherlab-users] Experience with EL6992

[Merkel, Amos]

Hi everyone,

I am trying to set up a Beckhoff EL6992 terminal and ran into some unexpected problems. Has anyone experience with this hardware?

Here is my problem:

The EL6992 is an EtherCAT bridge terminal, allowing communication between two EtherCAT systems. For that, it consists of actually two ethercat slaves, one "primary" slave on one system and a "secondary" slave on a second system. The primary side can configure PDOs for communication which the secondary side can then use.

First odd thing I notice are the operating states: The terminal initializes in "OP" on the primary side and in "OP" or "PreOp+E" on secondary side. I have yet to understand what decides the state of the secondary side

So far I managed to  configure PDOs for communication on both sides. For this to work, I have to manually set the operating states on both sides to Init, then to PreOp, then start my control job on primary side, then on secondary side. Otherwise the configuration is not accepted.

However, on both sides the system freezes shortly after starting the control jobs. System freeze is complete, even Alt+Print+REISUB does not work anymore.
A similar thing happens when I try to kill a control job shortly after starting it:
The control job can not be killed, not with Strg+C, and not with kill <PID>. Shortly after trying, the system freezes graduadely, sometimes rebooting still works, sometimes I have to default back to Alt+Print+REISUB. I have tried reading the dmesg output while killing the control job, I can't find error messages, the output stops at "releasing Master 0..."

I would be most grateful for any pointers on how to proceed with this.

Best regards,
Amos

--
Amos Merkel, M.Sc.
Group leader
Digitalization

ifas - Institute for Fluid Power Drives and Systems
RWTH Aachen University
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52074 Aachen

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