[Etherlab-users] Experience with EL6992

[Richard Hacker]

Hi Amos

Firstly, that project was 7 years ago... my memory is fading ;)

Our system was the primary, we controlled the E-bus, configuring up 
PDO's as in the script.

The secondary system was TwinCAT from the client and I was little 
involved therein, so I cannot speak of experience. But I guess the 
secondary side is mirrored as you suspected.

I'd set up the primary (E-Bus) and check that it works reliably (OP) 
with secondary disconnected. Then connect the secondary and scan it. It 
should reflect the PDO's as configured.

I'm sorry, I don't have more experience with the secondary side. I don't 
even know whether the sequence of initialization (primary first, then 
secondary or other way round) is important. I just wanted to note that 
in principle the slave works as expected.

Good luck!

Richard

On 4/14/22 10:03, Merkel, Amos wrote:
> Hi Richard,
> 
> 
> Of course, I meant the EL6692 - too many sixes and nines...
> 
> 
> Odd, that looks almost exactly like what I used - the secondary side is 
> basically the same with mirrored In-/Outputs, right? You don't have the 
> odd effects with the operating states as well?
> 
> 
> Greetings
> 
> Amos
> 
> ------------------------------------------------------------------------
> *Von:* Richard Hacker <ha at igh.de>
> *Gesendet:* Mittwoch, 13. April 2022 15:09:51
> *An:* etherlab-users at etherlab.org
> *Cc:* Merkel, Amos
> *Betreff:* Re: [Etherlab-users] Experience with EL6992
> Hi Merkel
> 
> You mean the EL6692 ;)
> 
> That must be some mistake somewhere on your side. I successfully used
> that slave in the past, attached is a matlab script for the generic
> slave in etherlab_lib, but I am sure you would be able to process it for
> your needs.
> 
> Richard
> 
> On 4/13/22 14:06, Merkel, Amos wrote:
>> Hi everyone,
>> 
>> I am tryingto 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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>> 
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>> **
>> 
>>        
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>> 
> 
> Mit freundlichem Gruß
> 
> Richard Hacker
> 
> -- 
> ------------------------------------------------------------------------
> 
> Richard Hacker M.Sc.
> richard.hacker at igh.de
> Tel.: +49 201 / 36014-16
> 
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> ------------------------------------------------------------------------

Mit freundlichem Gruß

Richard Hacker

-- 
------------------------------------------------------------------------

Richard Hacker M.Sc.
richard.hacker at igh.de
Tel.: +49 201 / 36014-16

Ingenieurgemeinschaft IgH
Gesellschaft für Ingenieurleistungen mbH
Nordsternstraße 66
D-45329 Essen

Amtsgericht Essen HRB 11500
USt-Id.-Nr.: DE 174 626 722
Geschäftsführung:
- Dr.-Ing. Siegfried Rotthäuser
- Dr. Sven Beermann, Prokurist
Tel.: +49 201 / 360-14-0
http://www.igh.de

------------------------------------------------------------------------