[Etherlab-users] Implementation of Safety - Terminals EL6900, EL1904 and EL2904

Mon Aug 22 16:01:39 CEST 2022

Hi erveryone,

I want to setup TwinSafe Logic Terminals, EL6900, EL2904 and EL1904.I've created a Safety-Project with TwinCat3 and downloaded the safety-logic to the EL6900. I use the default settings from TwinCat3. Now I want to implement it to the etherlab-master.
The Default PDO-Mapping of the EL6900 - Terminal:

SM0: PhysAddr 0x1000, DefaultSize  256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1100, DefaultSize  256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1200, DefaultSize    2, ControlRegister 0x24, Enable 1
  RxPDO 0x1600 "FSOE RxPDO-Map 001"
    PDO entry 0x7000:01,  8 bit, "FSOE Command"
    PDO entry 0x7001:01,  8 bit, "SubIndex 001"
    PDO entry 0x7000:03, 16 bit, "FSOE CRC 001"
    PDO entry 0x7000:02, 16 bit, "FSOE ConnID"
  RxPDO 0x1601 "FSOE RxPDO-Map 002"
    PDO entry 0x7010:01,  8 bit, "FSOE Command"
    PDO entry 0x7011:01,  8 bit, "SubIndex 001"
    PDO entry 0x7010:03, 16 bit, "FSOE CRC 001"
    PDO entry 0x7010:02, 16 bit, "FSOE ConnID"
  RxPDO 0x17f0 "DEVICE RxPDO-Map Standard In Vars"
    PDO entry 0xf201:01,  1 bit, "SubIndex 001"
    PDO entry 0xf201:02,  1 bit, "SubIndex 002"
    PDO entry 0xf201:03,  1 bit, "SubIndex 003"
    PDO entry 0xf201:04,  1 bit, "SubIndex 004"
    PDO entry 0xf201:05,  1 bit, "SubIndex 005"
    PDO entry 0xf201:06,  1 bit, "SubIndex 006"
    PDO entry 0xf201:07,  1 bit, "SubIndex 007"
    PDO entry 0xf201:08,  1 bit, "SubIndex 008"
  RxPDO 0x17ff "DEVICE RxPDO-Map Control"
    PDO entry 0xf200:01, 16 bit, "Control"
SM3: PhysAddr 0x1d00, DefaultSize    2, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 "FSOE TxPDO-Map 001"
    PDO entry 0x6000:01,  8 bit, "FSOE Command"
    PDO entry 0x6001:01,  8 bit, "SubIndex 001"
    PDO entry 0x6000:03, 16 bit, "FSOE CRC 001"
    PDO entry 0x6000:02, 16 bit, "FSOE ConnID"
  TxPDO 0x1a01 "FSOE TxPDO-Map 002"
    PDO entry 0x6010:01,  8 bit, "FSOE Command"
    PDO entry 0x6011:01,  8 bit, "SubIndex 001"
    PDO entry 0x6010:03, 16 bit, "FSOE CRC 001"
    PDO entry 0x6010:02, 16 bit, "FSOE ConnID"
  TxPDO 0x1bff "DEVICE TxPDO-Map Status"
    PDO entry 0xf100:01,  3 bit, "Safety Project State"
    PDO entry 0x0000:00,  4 bit, "Gap"
    PDO entry 0xf100:08,  1 bit, "Login Active"
    PDO entry 0xf100:09,  1 bit, "Input Size Mismatch"
    PDO entry 0xf100:0a,  1 bit, "Output Size Mismatch"
    PDO entry 0x0000:00,  4 bit, "Gap"
    PDO entry 0xf100:0f,  1 bit, "TxPDO State"
    PDO entry 0xf100:10,  1 bit, "TxPDO Toggle"

When I want to add PDOs, I get following warnings:

EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x7000:01/8 0x7001:01/8 0x7000:03/16 0x7000:02/16. Entries to map: 0x7000:01/8 0x7001:01/8 0x7000:03/16 0x7000:02/16 0x6000:01/48 0x6000:02/48
EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!

Slave Info EL6900:

=== Master 0, Slave 1 ===
Alias: 100
Device: Main
State: OP
Flag: +
Identity:
  Vendor Id:       0x00000002
  Product code:    0x1af43052
  Revision number: 0x00130000
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, delay measurement only
  DC system time transmission delay: 145 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  EBUS  up    open    yes             0   2874259272           0         145
   1  EBUS  up    open    yes             2   2874260152         880         145
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x1000/244, TX: 0x10f4/244
  Standard  RX: 0x1000/256, TX: 0x1100/256
  Supported protocols: CoE, FoE
General:
  Group: Safety
  Image name: EL69XX
  Order number: EL6900
  Device name: EL6900, TwinSAFE-PLC
  CoE details:
    Enable SDO: yes
    Enable SDO Info: yes
    Enable PDO Assign: no
    Enable PDO Configuration: no
    Enable Upload at startup: no
    Enable SDO complete access: no
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 190 mA

I see, that's not possible to assign or to configure PPOs, but what is the right track to setup this system successfully?
The used PDOs are not unique!
Do I have to change settings in TwinCat3? I am not an Expert of this; I only want to use the Safety-Editor to create the Safety - Logic!

In earlier posts here I found, that it is possible to implement Safety Terminals in the etherlab master successfully.
I've already read, that the FSoE - Data (6 Bytes) between the Safety - Terminals must be managed in the cycle_task of the Application; a little bit tricky but make sense.
The last point: In the Safety - Logic I used one variable to set Com/Err - Signal which is also linked to a PDO, I can't mapped!

Thanks in advance for attention and help.

Best regards

Uwe Stegemann

____________________________________
G+D Currency Technology

Uwe Stegemann
Banknote-Engineering - Printing Division / Abt. CTBN 214
Giesecke+Devrient Currency Technology GmbH,
Prinzregentenstraße 159, D-81677 Munich, Germany
T +49 89 4119-2321 F +49 89 4119-1446
mailto:uwe.stegemann at gi-de.com
http://www.gi-de.com<http://www.gi-de.com/>

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